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-rw-r--r--core/math/geometry.h15
-rw-r--r--core/math/math_2d.cpp10
-rw-r--r--core/math/math_2d.h2
-rw-r--r--core/math/math_funcs.h4
-rw-r--r--core/math/matrix3.cpp63
-rw-r--r--core/math/matrix3.h15
-rw-r--r--core/math/quick_hull.cpp2
-rw-r--r--core/math/transform.cpp4
-rw-r--r--core/math/vector3.h6
9 files changed, 113 insertions, 8 deletions
diff --git a/core/math/geometry.h b/core/math/geometry.h
index 73a53c53b6..be998aef0b 100644
--- a/core/math/geometry.h
+++ b/core/math/geometry.h
@@ -529,6 +529,21 @@ public:
return p_segment[0] + n * d; // inside
}
+ static bool line_intersects_line_2d(const Vector2 &p_from_a, const Vector2 &p_dir_a, const Vector2 &p_from_b, const Vector2 &p_dir_b, Vector2 &r_result) {
+
+ // see http://paulbourke.net/geometry/pointlineplane/
+
+ const real_t denom = p_dir_b.y * p_dir_a.x - p_dir_b.x * p_dir_a.y;
+ if (Math::abs(denom) < CMP_EPSILON) { // parallel?
+ return false;
+ }
+
+ const Vector2 v = p_from_a - p_from_b;
+ const real_t t = (p_dir_b.x * v.y - p_dir_b.y * v.x) / denom;
+ r_result = p_from_a + t * p_dir_a;
+ return true;
+ }
+
static bool segment_intersects_segment_2d(const Vector2 &p_from_a, const Vector2 &p_to_a, const Vector2 &p_from_b, const Vector2 &p_to_b, Vector2 *r_result) {
Vector2 B = p_to_a - p_from_a;
diff --git a/core/math/math_2d.cpp b/core/math/math_2d.cpp
index 3767d298a1..a053ffbd93 100644
--- a/core/math/math_2d.cpp
+++ b/core/math/math_2d.cpp
@@ -103,6 +103,16 @@ Vector2 Vector2::floor() const {
return Vector2(Math::floor(x), Math::floor(y));
}
+Vector2 Vector2::ceil() const {
+
+ return Vector2(Math::ceil(x), Math::ceil(y));
+}
+
+Vector2 Vector2::round() const {
+
+ return Vector2(Math::round(x), Math::round(y));
+}
+
Vector2 Vector2::rotated(real_t p_by) const {
Vector2 v;
diff --git a/core/math/math_2d.h b/core/math/math_2d.h
index e7188da85b..611d47e3ff 100644
--- a/core/math/math_2d.h
+++ b/core/math/math_2d.h
@@ -162,6 +162,8 @@ struct Vector2 {
}
Vector2 floor() const;
+ Vector2 ceil() const;
+ Vector2 round() const;
Vector2 snapped(const Vector2 &p_by) const;
real_t aspect() const { return width / height; }
diff --git a/core/math/math_funcs.h b/core/math/math_funcs.h
index 26e87f009b..20001bb9a6 100644
--- a/core/math/math_funcs.h
+++ b/core/math/math_funcs.h
@@ -215,11 +215,11 @@ public:
}
static _ALWAYS_INLINE_ double wrapf(double value, double min, double max) {
double rng = max - min;
- return min + (value - min) - (rng * Math::floor((value - min) / rng));
+ return value - (rng * Math::floor((value - min) / rng));
}
static _ALWAYS_INLINE_ float wrapf(float value, float min, float max) {
float rng = max - min;
- return min + (value - min) - (rng * Math::floor((value - min) / rng));
+ return value - (rng * Math::floor((value - min) / rng));
}
// double only, as these functions are mainly used by the editor and not performance-critical,
diff --git a/core/math/matrix3.cpp b/core/math/matrix3.cpp
index 189b1ef9b3..b0b05d1ec8 100644
--- a/core/math/matrix3.cpp
+++ b/core/math/matrix3.cpp
@@ -254,7 +254,7 @@ void Basis::set_scale(const Vector3 &p_scale) {
set_axis(2, get_axis(2).normalized() * p_scale.z);
}
-Vector3 Basis::get_scale() const {
+Vector3 Basis::get_scale_abs() const {
return Vector3(
Vector3(elements[0][0], elements[1][0], elements[2][0]).length(),
@@ -262,7 +262,13 @@ Vector3 Basis::get_scale() const {
Vector3(elements[0][2], elements[1][2], elements[2][2]).length());
}
-Vector3 Basis::get_signed_scale() const {
+Vector3 Basis::get_scale_local() const {
+ real_t det_sign = determinant() > 0 ? 1 : -1;
+ return det_sign * Vector3(elements[0].length(), elements[1].length(), elements[2].length());
+}
+
+// get_scale works with get_rotation, use get_scale_abs if you need to enforce positive signature.
+Vector3 Basis::get_scale() const {
// FIXME: We are assuming M = R.S (R is rotation and S is scaling), and use polar decomposition to extract R and S.
// A polar decomposition is M = O.P, where O is an orthogonal matrix (meaning rotation and reflection) and
// P is a positive semi-definite matrix (meaning it contains absolute values of scaling along its diagonal).
@@ -342,6 +348,14 @@ void Basis::rotate(const Vector3 &p_euler) {
*this = rotated(p_euler);
}
+Basis Basis::rotated(const Quat &p_quat) const {
+ return Basis(p_quat) * (*this);
+}
+
+void Basis::rotate(const Quat &p_quat) {
+ *this = rotated(p_quat);
+}
+
// TODO: rename this to get_rotation_euler
Vector3 Basis::get_rotation() const {
// Assumes that the matrix can be decomposed into a proper rotation and scaling matrix as M = R.S,
@@ -371,6 +385,22 @@ void Basis::get_rotation_axis_angle(Vector3 &p_axis, real_t &p_angle) const {
m.get_axis_angle(p_axis, p_angle);
}
+void Basis::get_rotation_axis_angle_local(Vector3 &p_axis, real_t &p_angle) const {
+ // Assumes that the matrix can be decomposed into a proper rotation and scaling matrix as M = R.S,
+ // and returns the Euler angles corresponding to the rotation part, complementing get_scale().
+ // See the comment in get_scale() for further information.
+ Basis m = transposed();
+ m.orthonormalize();
+ real_t det = m.determinant();
+ if (det < 0) {
+ // Ensure that the determinant is 1, such that result is a proper rotation matrix which can be represented by Euler angles.
+ m.scale(Vector3(-1, -1, -1));
+ }
+
+ m.get_axis_angle(p_axis, p_angle);
+ p_angle = -p_angle;
+}
+
// get_euler_xyz returns a vector containing the Euler angles in the format
// (a1,a2,a3), where a3 is the angle of the first rotation, and a1 is the last
// (following the convention they are commonly defined in the literature).
@@ -767,3 +797,32 @@ void Basis::set_axis_angle(const Vector3 &p_axis, real_t p_phi) {
elements[2][1] = p_axis.y * p_axis.z * (1.0 - cosine) + p_axis.x * sine;
elements[2][2] = axis_sq.z + cosine * (1.0 - axis_sq.z);
}
+
+void Basis::set_axis_angle_scale(const Vector3 &p_axis, real_t p_phi, const Vector3 &p_scale) {
+ set_diagonal(p_scale);
+ rotate(p_axis, p_phi);
+}
+
+void Basis::set_euler_scale(const Vector3 &p_euler, const Vector3 &p_scale) {
+ set_diagonal(p_scale);
+ rotate(p_euler);
+}
+
+void Basis::set_quat_scale(const Quat &p_quat, const Vector3 &p_scale) {
+ set_diagonal(p_scale);
+ rotate(p_quat);
+}
+
+void Basis::set_diagonal(const Vector3 p_diag) {
+ elements[0][0] = p_diag.x;
+ elements[0][1] = 0;
+ elements[0][2] = 0;
+
+ elements[1][0] = 0;
+ elements[1][1] = p_diag.y;
+ elements[1][2] = 0;
+
+ elements[2][0] = 0;
+ elements[2][1] = 0;
+ elements[2][2] = p_diag.z;
+}
diff --git a/core/math/matrix3.h b/core/math/matrix3.h
index c426435729..fd383fc673 100644
--- a/core/math/matrix3.h
+++ b/core/math/matrix3.h
@@ -81,8 +81,12 @@ public:
void rotate(const Vector3 &p_euler);
Basis rotated(const Vector3 &p_euler) const;
+ void rotate(const Quat &p_quat);
+ Basis rotated(const Quat &p_quat) const;
+
Vector3 get_rotation() const;
void get_rotation_axis_angle(Vector3 &p_axis, real_t &p_angle) const;
+ void get_rotation_axis_angle_local(Vector3 &p_axis, real_t &p_angle) const;
Vector3 rotref_posscale_decomposition(Basis &rotref) const;
@@ -108,7 +112,12 @@ public:
void set_scale(const Vector3 &p_scale);
Vector3 get_scale() const;
- Vector3 get_signed_scale() const;
+ Vector3 get_scale_abs() const;
+ Vector3 get_scale_local() const;
+
+ void set_axis_angle_scale(const Vector3 &p_axis, real_t p_phi, const Vector3 &p_scale);
+ void set_euler_scale(const Vector3 &p_euler, const Vector3 &p_scale);
+ void set_quat_scale(const Quat &p_quat, const Vector3 &p_scale);
// transposed dot products
_FORCE_INLINE_ real_t tdotx(const Vector3 &v) const {
@@ -140,6 +149,8 @@ public:
int get_orthogonal_index() const;
void set_orthogonal_index(int p_index);
+ void set_diagonal(const Vector3 p_diag);
+
bool is_orthogonal() const;
bool is_diagonal() const;
bool is_rotation() const;
@@ -219,6 +230,8 @@ public:
Basis(const Quat &p_quat) { set_quat(p_quat); };
Basis(const Vector3 &p_euler) { set_euler(p_euler); }
Basis(const Vector3 &p_axis, real_t p_phi) { set_axis_angle(p_axis, p_phi); }
+ Basis(const Vector3 &p_axis, real_t p_phi, const Vector3 &p_scale) { set_axis_angle_scale(p_axis, p_phi, p_scale); }
+ Basis(const Quat &p_quat, const Vector3 &p_scale) { set_quat_scale(p_quat, p_scale); }
_FORCE_INLINE_ Basis(const Vector3 &row0, const Vector3 &row1, const Vector3 &row2) {
elements[0] = row0;
diff --git a/core/math/quick_hull.cpp b/core/math/quick_hull.cpp
index 102e454e02..fc90417413 100644
--- a/core/math/quick_hull.cpp
+++ b/core/math/quick_hull.cpp
@@ -74,7 +74,7 @@ Error QuickHull::build(const Vector<Vector3> &p_points, Geometry::MeshData &r_me
int longest_axis = aabb.get_longest_axis_index();
//first two vertices are the most distant
- int simplex[4];
+ int simplex[4] = { 0 };
{
real_t max = 0, min = 0;
diff --git a/core/math/transform.cpp b/core/math/transform.cpp
index f727d00e30..7cd186ca60 100644
--- a/core/math/transform.cpp
+++ b/core/math/transform.cpp
@@ -119,11 +119,11 @@ Transform Transform::interpolate_with(const Transform &p_transform, real_t p_c)
/* not sure if very "efficient" but good enough? */
- Vector3 src_scale = basis.get_signed_scale();
+ Vector3 src_scale = basis.get_scale();
Quat src_rot = basis.orthonormalized();
Vector3 src_loc = origin;
- Vector3 dst_scale = p_transform.basis.get_signed_scale();
+ Vector3 dst_scale = p_transform.basis.get_scale();
Quat dst_rot = p_transform.basis;
Vector3 dst_loc = p_transform.origin;
diff --git a/core/math/vector3.h b/core/math/vector3.h
index 10ec4f5641..3bbfd7627c 100644
--- a/core/math/vector3.h
+++ b/core/math/vector3.h
@@ -103,6 +103,7 @@ struct Vector3 {
_FORCE_INLINE_ Vector3 floor() const;
_FORCE_INLINE_ Vector3 sign() const;
_FORCE_INLINE_ Vector3 ceil() const;
+ _FORCE_INLINE_ Vector3 round() const;
_FORCE_INLINE_ real_t distance_to(const Vector3 &p_b) const;
_FORCE_INLINE_ real_t distance_squared_to(const Vector3 &p_b) const;
@@ -204,6 +205,11 @@ Vector3 Vector3::ceil() const {
return Vector3(Math::ceil(x), Math::ceil(y), Math::ceil(z));
}
+Vector3 Vector3::round() const {
+
+ return Vector3(Math::round(x), Math::round(y), Math::round(z));
+}
+
Vector3 Vector3::linear_interpolate(const Vector3 &p_b, real_t p_t) const {
return Vector3(
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-19 06:56:21 +0000