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-rw-r--r--core/math/matrix3.h217
1 files changed, 103 insertions, 114 deletions
diff --git a/core/math/matrix3.h b/core/math/matrix3.h
index abce1ee45d..0240bc8610 100644
--- a/core/math/matrix3.h
+++ b/core/math/matrix3.h
@@ -39,14 +39,13 @@
*/
class Basis {
public:
-
Vector3 elements[3];
- _FORCE_INLINE_ const Vector3& operator[](int axis) const {
+ _FORCE_INLINE_ const Vector3 &operator[](int axis) const {
return elements[axis];
}
- _FORCE_INLINE_ Vector3& operator[](int axis) {
+ _FORCE_INLINE_ Vector3 &operator[](int axis) {
return elements[axis];
}
@@ -59,57 +58,57 @@ public:
_FORCE_INLINE_ real_t determinant() const;
- void from_z(const Vector3& p_z);
+ void from_z(const Vector3 &p_z);
_FORCE_INLINE_ Vector3 get_axis(int p_axis) const {
// get actual basis axis (elements is transposed for performance)
- return Vector3( elements[0][p_axis], elements[1][p_axis], elements[2][p_axis] );
+ return Vector3(elements[0][p_axis], elements[1][p_axis], elements[2][p_axis]);
}
- _FORCE_INLINE_ void set_axis(int p_axis, const Vector3& p_value) {
+ _FORCE_INLINE_ void set_axis(int p_axis, const Vector3 &p_value) {
// get actual basis axis (elements is transposed for performance)
- elements[0][p_axis]=p_value.x;
- elements[1][p_axis]=p_value.y;
- elements[2][p_axis]=p_value.z;
+ elements[0][p_axis] = p_value.x;
+ elements[1][p_axis] = p_value.y;
+ elements[2][p_axis] = p_value.z;
}
- void rotate(const Vector3& p_axis, real_t p_phi);
- Basis rotated(const Vector3& p_axis, real_t p_phi) const;
+ void rotate(const Vector3 &p_axis, real_t p_phi);
+ Basis rotated(const Vector3 &p_axis, real_t p_phi) const;
- void rotate(const Vector3& p_euler);
- Basis rotated(const Vector3& p_euler) const;
+ void rotate(const Vector3 &p_euler);
+ Basis rotated(const Vector3 &p_euler) const;
Vector3 get_rotation() const;
- void scale( const Vector3& p_scale );
- Basis scaled( const Vector3& p_scale ) const;
+ void scale(const Vector3 &p_scale);
+ Basis scaled(const Vector3 &p_scale) const;
Vector3 get_scale() const;
Vector3 get_euler() const;
- void set_euler(const Vector3& p_euler);
+ void set_euler(const Vector3 &p_euler);
// transposed dot products
- _FORCE_INLINE_ real_t tdotx(const Vector3& v) const {
+ _FORCE_INLINE_ real_t tdotx(const Vector3 &v) const {
return elements[0][0] * v[0] + elements[1][0] * v[1] + elements[2][0] * v[2];
}
- _FORCE_INLINE_ real_t tdoty(const Vector3& v) const {
+ _FORCE_INLINE_ real_t tdoty(const Vector3 &v) const {
return elements[0][1] * v[0] + elements[1][1] * v[1] + elements[2][1] * v[2];
}
- _FORCE_INLINE_ real_t tdotz(const Vector3& v) const {
+ _FORCE_INLINE_ real_t tdotz(const Vector3 &v) const {
return elements[0][2] * v[0] + elements[1][2] * v[1] + elements[2][2] * v[2];
}
- bool isequal_approx(const Basis& a, const Basis& b) const;
+ bool isequal_approx(const Basis &a, const Basis &b) const;
- bool operator==(const Basis& p_matrix) const;
- bool operator!=(const Basis& p_matrix) const;
+ bool operator==(const Basis &p_matrix) const;
+ bool operator!=(const Basis &p_matrix) const;
- _FORCE_INLINE_ Vector3 xform(const Vector3& p_vector) const;
- _FORCE_INLINE_ Vector3 xform_inv(const Vector3& p_vector) const;
- _FORCE_INLINE_ void operator*=(const Basis& p_matrix);
- _FORCE_INLINE_ Basis operator*(const Basis& p_matrix) const;
- _FORCE_INLINE_ void operator+=(const Basis& p_matrix);
- _FORCE_INLINE_ Basis operator+(const Basis& p_matrix) const;
- _FORCE_INLINE_ void operator-=(const Basis& p_matrix);
- _FORCE_INLINE_ Basis operator-(const Basis& p_matrix) const;
+ _FORCE_INLINE_ Vector3 xform(const Vector3 &p_vector) const;
+ _FORCE_INLINE_ Vector3 xform_inv(const Vector3 &p_vector) const;
+ _FORCE_INLINE_ void operator*=(const Basis &p_matrix);
+ _FORCE_INLINE_ Basis operator*(const Basis &p_matrix) const;
+ _FORCE_INLINE_ void operator+=(const Basis &p_matrix);
+ _FORCE_INLINE_ Basis operator+(const Basis &p_matrix) const;
+ _FORCE_INLINE_ void operator-=(const Basis &p_matrix);
+ _FORCE_INLINE_ Basis operator-(const Basis &p_matrix) const;
_FORCE_INLINE_ void operator*=(real_t p_val);
_FORCE_INLINE_ Basis operator*(real_t p_val) const;
@@ -121,40 +120,39 @@ public:
operator String() const;
- void get_axis_and_angle(Vector3 &r_axis,real_t& r_angle) const;
+ void get_axis_and_angle(Vector3 &r_axis, real_t &r_angle) const;
/* create / set */
-
_FORCE_INLINE_ void set(real_t xx, real_t xy, real_t xz, real_t yx, real_t yy, real_t yz, real_t zx, real_t zy, real_t zz) {
- elements[0][0]=xx;
- elements[0][1]=xy;
- elements[0][2]=xz;
- elements[1][0]=yx;
- elements[1][1]=yy;
- elements[1][2]=yz;
- elements[2][0]=zx;
- elements[2][1]=zy;
- elements[2][2]=zz;
+ elements[0][0] = xx;
+ elements[0][1] = xy;
+ elements[0][2] = xz;
+ elements[1][0] = yx;
+ elements[1][1] = yy;
+ elements[1][2] = yz;
+ elements[2][0] = zx;
+ elements[2][1] = zy;
+ elements[2][2] = zz;
}
_FORCE_INLINE_ Vector3 get_column(int i) const {
- return Vector3(elements[0][i],elements[1][i],elements[2][i]);
+ return Vector3(elements[0][i], elements[1][i], elements[2][i]);
}
_FORCE_INLINE_ Vector3 get_row(int i) const {
- return Vector3(elements[i][0],elements[i][1],elements[i][2]);
+ return Vector3(elements[i][0], elements[i][1], elements[i][2]);
}
_FORCE_INLINE_ Vector3 get_main_diagonal() const {
- return Vector3(elements[0][0],elements[1][1],elements[2][2]);
+ return Vector3(elements[0][0], elements[1][1], elements[2][2]);
}
- _FORCE_INLINE_ void set_row(int i, const Vector3& p_row) {
- elements[i][0]=p_row.x;
- elements[i][1]=p_row.y;
- elements[i][2]=p_row.z;
+ _FORCE_INLINE_ void set_row(int i, const Vector3 &p_row) {
+ elements[i][0] = p_row.x;
+ elements[i][1] = p_row.y;
+ elements[i][2] = p_row.z;
}
_FORCE_INLINE_ void set_zero() {
@@ -163,18 +161,17 @@ public:
elements[2].zero();
}
- _FORCE_INLINE_ Basis transpose_xform(const Basis& m) const
- {
+ _FORCE_INLINE_ Basis transpose_xform(const Basis &m) const {
return Basis(
- elements[0].x * m[0].x + elements[1].x * m[1].x + elements[2].x * m[2].x,
- elements[0].x * m[0].y + elements[1].x * m[1].y + elements[2].x * m[2].y,
- elements[0].x * m[0].z + elements[1].x * m[1].z + elements[2].x * m[2].z,
- elements[0].y * m[0].x + elements[1].y * m[1].x + elements[2].y * m[2].x,
- elements[0].y * m[0].y + elements[1].y * m[1].y + elements[2].y * m[2].y,
- elements[0].y * m[0].z + elements[1].y * m[1].z + elements[2].y * m[2].z,
- elements[0].z * m[0].x + elements[1].z * m[1].x + elements[2].z * m[2].x,
- elements[0].z * m[0].y + elements[1].z * m[1].y + elements[2].z * m[2].y,
- elements[0].z * m[0].z + elements[1].z * m[1].z + elements[2].z * m[2].z);
+ elements[0].x * m[0].x + elements[1].x * m[1].x + elements[2].x * m[2].x,
+ elements[0].x * m[0].y + elements[1].x * m[1].y + elements[2].x * m[2].y,
+ elements[0].x * m[0].z + elements[1].x * m[1].z + elements[2].x * m[2].z,
+ elements[0].y * m[0].x + elements[1].y * m[1].x + elements[2].y * m[2].x,
+ elements[0].y * m[0].y + elements[1].y * m[1].y + elements[2].y * m[2].y,
+ elements[0].y * m[0].z + elements[1].y * m[1].z + elements[2].y * m[2].z,
+ elements[0].z * m[0].x + elements[1].z * m[1].x + elements[2].z * m[2].x,
+ elements[0].z * m[0].y + elements[1].z * m[1].y + elements[2].z * m[2].y,
+ elements[0].z * m[0].z + elements[1].z * m[1].z + elements[2].z * m[2].z);
}
Basis(real_t xx, real_t xy, real_t xz, real_t yx, real_t yy, real_t yz, real_t zx, real_t zy, real_t zz) {
@@ -189,75 +186,69 @@ public:
operator Quat() const;
- Basis(const Quat& p_quat); // euler
- Basis(const Vector3& p_euler); // euler
- Basis(const Vector3& p_axis, real_t p_phi);
+ Basis(const Quat &p_quat); // euler
+ Basis(const Vector3 &p_euler); // euler
+ Basis(const Vector3 &p_axis, real_t p_phi);
- _FORCE_INLINE_ Basis(const Vector3& row0, const Vector3& row1, const Vector3& row2)
- {
- elements[0]=row0;
- elements[1]=row1;
- elements[2]=row2;
+ _FORCE_INLINE_ Basis(const Vector3 &row0, const Vector3 &row1, const Vector3 &row2) {
+ elements[0] = row0;
+ elements[1] = row1;
+ elements[2] = row2;
}
_FORCE_INLINE_ Basis() {
- elements[0][0]=1;
- elements[0][1]=0;
- elements[0][2]=0;
- elements[1][0]=0;
- elements[1][1]=1;
- elements[1][2]=0;
- elements[2][0]=0;
- elements[2][1]=0;
- elements[2][2]=1;
+ elements[0][0] = 1;
+ elements[0][1] = 0;
+ elements[0][2] = 0;
+ elements[1][0] = 0;
+ elements[1][1] = 1;
+ elements[1][2] = 0;
+ elements[2][0] = 0;
+ elements[2][1] = 0;
+ elements[2][2] = 1;
}
-
-
};
-_FORCE_INLINE_ void Basis::operator*=(const Basis& p_matrix) {
+_FORCE_INLINE_ void Basis::operator*=(const Basis &p_matrix) {
set(
- p_matrix.tdotx(elements[0]), p_matrix.tdoty(elements[0]), p_matrix.tdotz(elements[0]),
- p_matrix.tdotx(elements[1]), p_matrix.tdoty(elements[1]), p_matrix.tdotz(elements[1]),
- p_matrix.tdotx(elements[2]), p_matrix.tdoty(elements[2]), p_matrix.tdotz(elements[2]));
-
+ p_matrix.tdotx(elements[0]), p_matrix.tdoty(elements[0]), p_matrix.tdotz(elements[0]),
+ p_matrix.tdotx(elements[1]), p_matrix.tdoty(elements[1]), p_matrix.tdotz(elements[1]),
+ p_matrix.tdotx(elements[2]), p_matrix.tdoty(elements[2]), p_matrix.tdotz(elements[2]));
}
-_FORCE_INLINE_ Basis Basis::operator*(const Basis& p_matrix) const {
+_FORCE_INLINE_ Basis Basis::operator*(const Basis &p_matrix) const {
return Basis(
- p_matrix.tdotx(elements[0]), p_matrix.tdoty(elements[0]), p_matrix.tdotz(elements[0]),
- p_matrix.tdotx(elements[1]), p_matrix.tdoty(elements[1]), p_matrix.tdotz(elements[1]),
- p_matrix.tdotx(elements[2]), p_matrix.tdoty(elements[2]), p_matrix.tdotz(elements[2]) );
-
+ p_matrix.tdotx(elements[0]), p_matrix.tdoty(elements[0]), p_matrix.tdotz(elements[0]),
+ p_matrix.tdotx(elements[1]), p_matrix.tdoty(elements[1]), p_matrix.tdotz(elements[1]),
+ p_matrix.tdotx(elements[2]), p_matrix.tdoty(elements[2]), p_matrix.tdotz(elements[2]));
}
-
-_FORCE_INLINE_ void Basis::operator+=(const Basis& p_matrix) {
+_FORCE_INLINE_ void Basis::operator+=(const Basis &p_matrix) {
elements[0] += p_matrix.elements[0];
elements[1] += p_matrix.elements[1];
elements[2] += p_matrix.elements[2];
}
-_FORCE_INLINE_ Basis Basis::operator+(const Basis& p_matrix) const {
-
+_FORCE_INLINE_ Basis Basis::operator+(const Basis &p_matrix) const {
+
Basis ret(*this);
ret += p_matrix;
return ret;
}
-_FORCE_INLINE_ void Basis::operator-=(const Basis& p_matrix) {
+_FORCE_INLINE_ void Basis::operator-=(const Basis &p_matrix) {
elements[0] -= p_matrix.elements[0];
elements[1] -= p_matrix.elements[1];
elements[2] -= p_matrix.elements[2];
}
-_FORCE_INLINE_ Basis Basis::operator-(const Basis& p_matrix) const {
-
+_FORCE_INLINE_ Basis Basis::operator-(const Basis &p_matrix) const {
+
Basis ret(*this);
ret -= p_matrix;
return ret;
@@ -265,40 +256,38 @@ _FORCE_INLINE_ Basis Basis::operator-(const Basis& p_matrix) const {
_FORCE_INLINE_ void Basis::operator*=(real_t p_val) {
- elements[0]*=p_val;
- elements[1]*=p_val;
- elements[2]*=p_val;
+ elements[0] *= p_val;
+ elements[1] *= p_val;
+ elements[2] *= p_val;
}
_FORCE_INLINE_ Basis Basis::operator*(real_t p_val) const {
- Basis ret(*this);
- ret *= p_val;
- return ret;
+ Basis ret(*this);
+ ret *= p_val;
+ return ret;
}
-Vector3 Basis::xform(const Vector3& p_vector) const {
+Vector3 Basis::xform(const Vector3 &p_vector) const {
return Vector3(
- elements[0].dot(p_vector),
- elements[1].dot(p_vector),
- elements[2].dot(p_vector)
- );
+ elements[0].dot(p_vector),
+ elements[1].dot(p_vector),
+ elements[2].dot(p_vector));
}
-Vector3 Basis::xform_inv(const Vector3& p_vector) const {
+Vector3 Basis::xform_inv(const Vector3 &p_vector) const {
return Vector3(
- (elements[0][0]*p_vector.x ) + ( elements[1][0]*p_vector.y ) + ( elements[2][0]*p_vector.z ),
- (elements[0][1]*p_vector.x ) + ( elements[1][1]*p_vector.y ) + ( elements[2][1]*p_vector.z ),
- (elements[0][2]*p_vector.x ) + ( elements[1][2]*p_vector.y ) + ( elements[2][2]*p_vector.z )
- );
+ (elements[0][0] * p_vector.x) + (elements[1][0] * p_vector.y) + (elements[2][0] * p_vector.z),
+ (elements[0][1] * p_vector.x) + (elements[1][1] * p_vector.y) + (elements[2][1] * p_vector.z),
+ (elements[0][2] * p_vector.x) + (elements[1][2] * p_vector.y) + (elements[2][2] * p_vector.z));
}
real_t Basis::determinant() const {
- return elements[0][0]*(elements[1][1]*elements[2][2] - elements[2][1]*elements[1][2]) -
- elements[1][0]*(elements[0][1]*elements[2][2] - elements[2][1]*elements[0][2]) +
- elements[2][0]*(elements[0][1]*elements[1][2] - elements[1][1]*elements[0][2]);
+ return elements[0][0] * (elements[1][1] * elements[2][2] - elements[2][1] * elements[1][2]) -
+ elements[1][0] * (elements[0][1] * elements[2][2] - elements[2][1] * elements[0][2]) +
+ elements[2][0] * (elements[0][1] * elements[1][2] - elements[1][1] * elements[0][2]);
}
#endif
generated by cgit v1.2.3 (git 2.25.1) at 2025-06-03 15:38:22 +0000