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-rw-r--r--core/math/basis.cpp39
-rw-r--r--core/math/basis.h7
-rw-r--r--core/math/octree.h2
-rw-r--r--core/math/transform_3d.cpp24
-rw-r--r--core/math/transform_3d.h3
-rw-r--r--core/math/vector2.cpp8
-rw-r--r--core/math/vector2.h18
-rw-r--r--core/math/vector3.h12
-rw-r--r--core/math/vector3i.h12
9 files changed, 115 insertions, 10 deletions
diff --git a/core/math/basis.cpp b/core/math/basis.cpp
index 6159e78bab..a9b4651664 100644
--- a/core/math/basis.cpp
+++ b/core/math/basis.cpp
@@ -94,6 +94,18 @@ Basis Basis::orthonormalized() const {
return c;
}
+void Basis::orthogonalize() {
+ Vector3 scl = get_scale();
+ orthonormalize();
+ scale_local(scl);
+}
+
+Basis Basis::orthogonalized() const {
+ Basis c = *this;
+ c.orthogonalize();
+ return c;
+}
+
bool Basis::is_orthogonal() const {
Basis identity;
Basis m = (*this) * transposed();
@@ -237,6 +249,24 @@ void Basis::scale_local(const Vector3 &p_scale) {
*this = scaled_local(p_scale);
}
+void Basis::scale_orthogonal(const Vector3 &p_scale) {
+ *this = scaled_orthogonal(p_scale);
+}
+
+Basis Basis::scaled_orthogonal(const Vector3 &p_scale) const {
+ Basis m = *this;
+ Vector3 s = Vector3(-1, -1, -1) + p_scale;
+ Vector3 dots;
+ Basis b;
+ for (int i = 0; i < 3; i++) {
+ for (int j = 0; j < 3; j++) {
+ dots[j] += s[i] * abs(m.get_axis(i).normalized().dot(b.get_axis(j)));
+ }
+ }
+ m.scale_local(Vector3(1, 1, 1) + dots);
+ return m;
+}
+
float Basis::get_uniform_scale() const {
return (elements[0].length() + elements[1].length() + elements[2].length()) / 3.0;
}
@@ -931,6 +961,15 @@ void Basis::_set_diagonal(const Vector3 &p_diag) {
elements[2][2] = p_diag.z;
}
+Basis Basis::lerp(const Basis &p_to, const real_t &p_weight) const {
+ Basis b;
+ b.elements[0] = elements[0].lerp(p_to.elements[0], p_weight);
+ b.elements[1] = elements[1].lerp(p_to.elements[1], p_weight);
+ b.elements[2] = elements[2].lerp(p_to.elements[2], p_weight);
+
+ return b;
+}
+
Basis Basis::slerp(const Basis &p_to, const real_t &p_weight) const {
//consider scale
Quaternion from(*this);
diff --git a/core/math/basis.h b/core/math/basis.h
index 48367631d5..709f2cb3cf 100644
--- a/core/math/basis.h
+++ b/core/math/basis.h
@@ -123,6 +123,9 @@ public:
void scale_local(const Vector3 &p_scale);
Basis scaled_local(const Vector3 &p_scale) const;
+ void scale_orthogonal(const Vector3 &p_scale);
+ Basis scaled_orthogonal(const Vector3 &p_scale) const;
+
void make_scale_uniform();
float get_uniform_scale() const;
@@ -168,6 +171,7 @@ public:
bool is_diagonal() const;
bool is_rotation() const;
+ Basis lerp(const Basis &p_to, const real_t &p_weight) const;
Basis slerp(const Basis &p_to, const real_t &p_weight) const;
void rotate_sh(real_t *p_values);
@@ -233,6 +237,9 @@ public:
void orthonormalize();
Basis orthonormalized() const;
+ void orthogonalize();
+ Basis orthogonalized() const;
+
#ifdef MATH_CHECKS
bool is_symmetric() const;
#endif
diff --git a/core/math/octree.h b/core/math/octree.h
index 7861c35e07..23ba4c1aa3 100644
--- a/core/math/octree.h
+++ b/core/math/octree.h
@@ -103,7 +103,7 @@ private:
Octant *parent = nullptr;
Octant *children[8] = { nullptr };
- int children_count = 0; // cache for amount of childrens (fast check for removal)
+ int children_count = 0; // cache for amount of children (fast check for removal)
int parent_index = -1; // cache for parent index (fast check for removal)
List<Element *, AL> pairable_elements;
diff --git a/core/math/transform_3d.cpp b/core/math/transform_3d.cpp
index 1e0ee13504..e5374315e2 100644
--- a/core/math/transform_3d.cpp
+++ b/core/math/transform_3d.cpp
@@ -80,9 +80,11 @@ void Transform3D::set_look_at(const Vector3 &p_eye, const Vector3 &p_target, con
origin = p_eye;
}
-Transform3D Transform3D::interpolate_with(const Transform3D &p_transform, real_t p_c) const {
+Transform3D Transform3D::sphere_interpolate_with(const Transform3D &p_transform, real_t p_c) const {
/* not sure if very "efficient" but good enough? */
+ Transform3D interp;
+
Vector3 src_scale = basis.get_scale();
Quaternion src_rot = basis.get_rotation_quaternion();
Vector3 src_loc = origin;
@@ -91,13 +93,21 @@ Transform3D Transform3D::interpolate_with(const Transform3D &p_transform, real_t
Quaternion dst_rot = p_transform.basis.get_rotation_quaternion();
Vector3 dst_loc = p_transform.origin;
- Transform3D interp;
interp.basis.set_quaternion_scale(src_rot.slerp(dst_rot, p_c).normalized(), src_scale.lerp(dst_scale, p_c));
interp.origin = src_loc.lerp(dst_loc, p_c);
return interp;
}
+Transform3D Transform3D::interpolate_with(const Transform3D &p_transform, real_t p_c) const {
+ Transform3D interp;
+
+ interp.basis = basis.lerp(p_transform.basis, p_c);
+ interp.origin = origin.lerp(p_transform.origin, p_c);
+
+ return interp;
+}
+
void Transform3D::scale(const Vector3 &p_scale) {
basis.scale(p_scale);
origin *= p_scale;
@@ -139,6 +149,16 @@ Transform3D Transform3D::orthonormalized() const {
return _copy;
}
+void Transform3D::orthogonalize() {
+ basis.orthogonalize();
+}
+
+Transform3D Transform3D::orthogonalized() const {
+ Transform3D _copy = *this;
+ _copy.orthogonalize();
+ return _copy;
+}
+
bool Transform3D::is_equal_approx(const Transform3D &p_transform) const {
return basis.is_equal_approx(p_transform.basis) && origin.is_equal_approx(p_transform.origin);
}
diff --git a/core/math/transform_3d.h b/core/math/transform_3d.h
index 4356aa4e79..c0ef2ecfc1 100644
--- a/core/math/transform_3d.h
+++ b/core/math/transform_3d.h
@@ -69,6 +69,8 @@ public:
void orthonormalize();
Transform3D orthonormalized() const;
+ void orthogonalize();
+ Transform3D orthogonalized() const;
bool is_equal_approx(const Transform3D &p_transform) const;
bool operator==(const Transform3D &p_transform) const;
@@ -99,6 +101,7 @@ public:
void operator*=(const real_t p_val);
Transform3D operator*(const real_t p_val) const;
+ Transform3D sphere_interpolate_with(const Transform3D &p_transform, real_t p_c) const;
Transform3D interpolate_with(const Transform3D &p_transform, real_t p_c) const;
_FORCE_INLINE_ Transform3D inverse_xform(const Transform3D &t) const {
diff --git a/core/math/vector2.cpp b/core/math/vector2.cpp
index 38dad893f5..676a0004ea 100644
--- a/core/math/vector2.cpp
+++ b/core/math/vector2.cpp
@@ -210,6 +210,14 @@ Vector2i Vector2i::clamp(const Vector2i &p_min, const Vector2i &p_max) const {
CLAMP(y, p_min.y, p_max.y));
}
+int64_t Vector2i::length_squared() const {
+ return x * (int64_t)x + y * (int64_t)y;
+}
+
+double Vector2i::length() const {
+ return Math::sqrt((double)length_squared());
+}
+
Vector2i Vector2i::operator+(const Vector2i &p_v) const {
return Vector2i(x + p_v.x, y + p_v.y);
}
diff --git a/core/math/vector2.h b/core/math/vector2.h
index 493e0af27d..a340036ac7 100644
--- a/core/math/vector2.h
+++ b/core/math/vector2.h
@@ -261,11 +261,16 @@ Vector2 Vector2::lerp(const Vector2 &p_to, const real_t p_weight) const {
}
Vector2 Vector2::slerp(const Vector2 &p_to, const real_t p_weight) const {
-#ifdef MATH_CHECKS
- ERR_FAIL_COND_V_MSG(!is_normalized(), Vector2(), "The start Vector2 must be normalized.");
-#endif
- real_t theta = angle_to(p_to);
- return rotated(theta * p_weight);
+ real_t start_length_sq = length_squared();
+ real_t end_length_sq = p_to.length_squared();
+ if (unlikely(start_length_sq == 0.0 || end_length_sq == 0.0)) {
+ // Zero length vectors have no angle, so the best we can do is either lerp or throw an error.
+ return lerp(p_to, p_weight);
+ }
+ real_t start_length = Math::sqrt(start_length_sq);
+ real_t result_length = Math::lerp(start_length, Math::sqrt(end_length_sq), p_weight);
+ real_t angle = angle_to(p_to);
+ return rotated(angle * p_weight) * (result_length / start_length);
}
Vector2 Vector2::direction_to(const Vector2 &p_to) const {
@@ -344,6 +349,9 @@ struct Vector2i {
bool operator==(const Vector2i &p_vec2) const;
bool operator!=(const Vector2i &p_vec2) const;
+ int64_t length_squared() const;
+ double length() const;
+
real_t aspect() const { return width / (real_t)height; }
Vector2i sign() const { return Vector2i(SIGN(x), SIGN(y)); }
Vector2i abs() const { return Vector2i(ABS(x), ABS(y)); }
diff --git a/core/math/vector3.h b/core/math/vector3.h
index 1861627718..d7a72b05a8 100644
--- a/core/math/vector3.h
+++ b/core/math/vector3.h
@@ -240,8 +240,16 @@ Vector3 Vector3::lerp(const Vector3 &p_to, const real_t p_weight) const {
}
Vector3 Vector3::slerp(const Vector3 &p_to, const real_t p_weight) const {
- real_t theta = angle_to(p_to);
- return rotated(cross(p_to).normalized(), theta * p_weight);
+ real_t start_length_sq = length_squared();
+ real_t end_length_sq = p_to.length_squared();
+ if (unlikely(start_length_sq == 0.0 || end_length_sq == 0.0)) {
+ // Zero length vectors have no angle, so the best we can do is either lerp or throw an error.
+ return lerp(p_to, p_weight);
+ }
+ real_t start_length = Math::sqrt(start_length_sq);
+ real_t result_length = Math::lerp(start_length, Math::sqrt(end_length_sq), p_weight);
+ real_t angle = angle_to(p_to);
+ return rotated(cross(p_to).normalized(), angle * p_weight) * (result_length / start_length);
}
real_t Vector3::distance_to(const Vector3 &p_to) const {
diff --git a/core/math/vector3i.h b/core/math/vector3i.h
index 0f9caa349b..1416c98057 100644
--- a/core/math/vector3i.h
+++ b/core/math/vector3i.h
@@ -31,6 +31,7 @@
#ifndef VECTOR3I_H
#define VECTOR3I_H
+#include "core/math/math_funcs.h"
#include "core/string/ustring.h"
#include "core/typedefs.h"
@@ -65,6 +66,9 @@ struct Vector3i {
Vector3i::Axis min_axis_index() const;
Vector3i::Axis max_axis_index() const;
+ _FORCE_INLINE_ int64_t length_squared() const;
+ _FORCE_INLINE_ double length() const;
+
_FORCE_INLINE_ void zero();
_FORCE_INLINE_ Vector3i abs() const;
@@ -110,6 +114,14 @@ struct Vector3i {
}
};
+int64_t Vector3i::length_squared() const {
+ return x * (int64_t)x + y * (int64_t)y + z * (int64_t)z;
+}
+
+double Vector3i::length() const {
+ return Math::sqrt((double)length_squared());
+}
+
Vector3i Vector3i::abs() const {
return Vector3i(ABS(x), ABS(y), ABS(z));
}
generated by cgit v1.2.3 (git 2.25.1) at 2025-03-20 23:13:59 +0000