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-rw-r--r--core/math/basis.cpp48
-rw-r--r--core/math/basis.h55
-rw-r--r--core/math/transform_2d.cpp8
-rw-r--r--core/math/transform_2d.h13
-rw-r--r--core/math/transform_3d.cpp24
-rw-r--r--core/math/transform_3d.h6
-rw-r--r--core/math/vector3.cpp8
-rw-r--r--core/math/vector3.h4
8 files changed, 73 insertions, 93 deletions
diff --git a/core/math/basis.cpp b/core/math/basis.cpp
index faec5735b9..65353d8118 100644
--- a/core/math/basis.cpp
+++ b/core/math/basis.cpp
@@ -73,9 +73,9 @@ void Basis::invert() {
void Basis::orthonormalize() {
// Gram-Schmidt Process
- Vector3 x = get_axis(0);
- Vector3 y = get_axis(1);
- Vector3 z = get_axis(2);
+ Vector3 x = get_column(0);
+ Vector3 y = get_column(1);
+ Vector3 z = get_column(2);
x.normalize();
y = (y - x * (x.dot(y)));
@@ -83,9 +83,9 @@ void Basis::orthonormalize() {
z = (z - x * (x.dot(z)) - y * (y.dot(z)));
z.normalize();
- set_axis(0, x);
- set_axis(1, y);
- set_axis(2, z);
+ set_column(0, x);
+ set_column(1, y);
+ set_column(2, z);
}
Basis Basis::orthonormalized() const {
@@ -260,7 +260,7 @@ Basis Basis::scaled_orthogonal(const Vector3 &p_scale) const {
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)));
+ dots[j] += s[i] * abs(m.get_column(i).normalized().dot(b.get_column(j)));
}
}
m.scale_local(Vector3(1, 1, 1) + dots);
@@ -347,22 +347,22 @@ Vector3 Basis::rotref_posscale_decomposition(Basis &rotref) const {
// The main use of Basis is as Transform.basis, which is used by the transformation matrix
// of 3D object. Rotate here refers to rotation of the object (which is R * (*this)),
// not the matrix itself (which is R * (*this) * R.transposed()).
-Basis Basis::rotated(const Vector3 &p_axis, real_t p_phi) const {
- return Basis(p_axis, p_phi) * (*this);
+Basis Basis::rotated(const Vector3 &p_axis, real_t p_angle) const {
+ return Basis(p_axis, p_angle) * (*this);
}
-void Basis::rotate(const Vector3 &p_axis, real_t p_phi) {
- *this = rotated(p_axis, p_phi);
+void Basis::rotate(const Vector3 &p_axis, real_t p_angle) {
+ *this = rotated(p_axis, p_angle);
}
-void Basis::rotate_local(const Vector3 &p_axis, real_t p_phi) {
+void Basis::rotate_local(const Vector3 &p_axis, real_t p_angle) {
// performs a rotation in object-local coordinate system:
// M -> (M.R.Minv).M = M.R.
- *this = rotated_local(p_axis, p_phi);
+ *this = rotated_local(p_axis, p_angle);
}
-Basis Basis::rotated_local(const Vector3 &p_axis, real_t p_phi) const {
- return (*this) * Basis(p_axis, p_phi);
+Basis Basis::rotated_local(const Vector3 &p_axis, real_t p_angle) const {
+ return (*this) * Basis(p_axis, p_angle);
}
Basis Basis::rotated(const Vector3 &p_euler) const {
@@ -708,9 +708,9 @@ bool Basis::operator!=(const Basis &p_matrix) const {
}
Basis::operator String() const {
- return "[X: " + get_axis(0).operator String() +
- ", Y: " + get_axis(1).operator String() +
- ", Z: " + get_axis(2).operator String() + "]";
+ return "[X: " + get_column(0).operator String() +
+ ", Y: " + get_column(1).operator String() +
+ ", Z: " + get_column(2).operator String() + "]";
}
Quaternion Basis::get_quaternion() const {
@@ -900,18 +900,18 @@ void Basis::set_quaternion(const Quaternion &p_quaternion) {
xz - wy, yz + wx, 1.0f - (xx + yy));
}
-void Basis::set_axis_angle(const Vector3 &p_axis, real_t p_phi) {
+void Basis::set_axis_angle(const Vector3 &p_axis, real_t p_angle) {
// Rotation matrix from axis and angle, see https://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_angle
#ifdef MATH_CHECKS
ERR_FAIL_COND_MSG(!p_axis.is_normalized(), "The axis Vector3 must be normalized.");
#endif
Vector3 axis_sq(p_axis.x * p_axis.x, p_axis.y * p_axis.y, p_axis.z * p_axis.z);
- real_t cosine = Math::cos(p_phi);
+ real_t cosine = Math::cos(p_angle);
rows[0][0] = axis_sq.x + cosine * (1.0f - axis_sq.x);
rows[1][1] = axis_sq.y + cosine * (1.0f - axis_sq.y);
rows[2][2] = axis_sq.z + cosine * (1.0f - axis_sq.z);
- real_t sine = Math::sin(p_phi);
+ real_t sine = Math::sin(p_angle);
real_t t = 1 - cosine;
real_t xyzt = p_axis.x * p_axis.y * t;
@@ -930,9 +930,9 @@ void Basis::set_axis_angle(const Vector3 &p_axis, real_t p_phi) {
rows[2][1] = xyzt + zyxs;
}
-void Basis::set_axis_angle_scale(const Vector3 &p_axis, real_t p_phi, const Vector3 &p_scale) {
+void Basis::set_axis_angle_scale(const Vector3 &p_axis, real_t p_angle, const Vector3 &p_scale) {
_set_diagonal(p_scale);
- rotate(p_axis, p_phi);
+ rotate(p_axis, p_angle);
}
void Basis::set_euler_scale(const Vector3 &p_euler, const Vector3 &p_scale) {
@@ -1107,6 +1107,6 @@ Basis Basis::looking_at(const Vector3 &p_target, const Vector3 &p_up) {
Vector3 v_y = v_z.cross(v_x);
Basis basis;
- basis.set(v_x, v_y, v_z);
+ basis.set_columns(v_x, v_y, v_z);
return basis;
}
diff --git a/core/math/basis.h b/core/math/basis.h
index 7bd75be091..9cce22510b 100644
--- a/core/math/basis.h
+++ b/core/math/basis.h
@@ -58,22 +58,11 @@ struct _NO_DISCARD_ Basis {
void from_z(const Vector3 &p_z);
- _FORCE_INLINE_ Vector3 get_axis(int p_axis) const {
- // get actual basis axis column (we store transposed as rows for performance)
- return Vector3(rows[0][p_axis], rows[1][p_axis], rows[2][p_axis]);
- }
- _FORCE_INLINE_ void set_axis(int p_axis, const Vector3 &p_value) {
- // get actual basis axis column (we store transposed as rows for performance)
- rows[0][p_axis] = p_value.x;
- rows[1][p_axis] = p_value.y;
- rows[2][p_axis] = p_value.z;
- }
+ void rotate(const Vector3 &p_axis, real_t p_angle);
+ Basis rotated(const Vector3 &p_axis, real_t p_angle) const;
- void rotate(const Vector3 &p_axis, real_t p_phi);
- Basis rotated(const Vector3 &p_axis, real_t p_phi) const;
-
- void rotate_local(const Vector3 &p_axis, real_t p_phi);
- Basis rotated_local(const Vector3 &p_axis, real_t p_phi) const;
+ void rotate_local(const Vector3 &p_axis, real_t p_angle);
+ Basis rotated_local(const Vector3 &p_axis, real_t p_angle) const;
void rotate(const Vector3 &p_euler);
Basis rotated(const Vector3 &p_euler) const;
@@ -111,7 +100,7 @@ struct _NO_DISCARD_ Basis {
void set_quaternion(const Quaternion &p_quaternion);
void get_axis_angle(Vector3 &r_axis, real_t &r_angle) const;
- void set_axis_angle(const Vector3 &p_axis, real_t p_phi);
+ void set_axis_angle(const Vector3 &p_axis, real_t p_angle);
void scale(const Vector3 &p_scale);
Basis scaled(const Vector3 &p_scale) const;
@@ -129,7 +118,7 @@ struct _NO_DISCARD_ Basis {
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_axis_angle_scale(const Vector3 &p_axis, real_t p_angle, const Vector3 &p_scale);
void set_euler_scale(const Vector3 &p_euler, const Vector3 &p_scale);
void set_quaternion_scale(const Quaternion &p_quaternion, const Vector3 &p_scale);
@@ -186,28 +175,28 @@ struct _NO_DISCARD_ Basis {
rows[2][1] = zy;
rows[2][2] = zz;
}
- _FORCE_INLINE_ void set(const Vector3 &p_x, const Vector3 &p_y, const Vector3 &p_z) {
- set_axis(0, p_x);
- set_axis(1, p_y);
- set_axis(2, p_z);
+ _FORCE_INLINE_ void set_columns(const Vector3 &p_x, const Vector3 &p_y, const Vector3 &p_z) {
+ set_column(0, p_x);
+ set_column(1, p_y);
+ set_column(2, p_z);
}
- _FORCE_INLINE_ Vector3 get_column(int i) const {
- return Vector3(rows[0][i], rows[1][i], rows[2][i]);
+
+ _FORCE_INLINE_ Vector3 get_column(int p_index) const {
+ // Get actual basis axis column (we store transposed as rows for performance).
+ return Vector3(rows[0][p_index], rows[1][p_index], rows[2][p_index]);
}
- _FORCE_INLINE_ Vector3 get_row(int i) const {
- return Vector3(rows[i][0], rows[i][1], rows[i][2]);
+ _FORCE_INLINE_ void set_column(int p_index, const Vector3 &p_value) {
+ // Set actual basis axis column (we store transposed as rows for performance).
+ rows[0][p_index] = p_value.x;
+ rows[1][p_index] = p_value.y;
+ rows[2][p_index] = p_value.z;
}
+
_FORCE_INLINE_ Vector3 get_main_diagonal() const {
return Vector3(rows[0][0], rows[1][1], rows[2][2]);
}
- _FORCE_INLINE_ void set_row(int i, const Vector3 &p_row) {
- rows[i][0] = p_row.x;
- rows[i][1] = p_row.y;
- rows[i][2] = p_row.z;
- }
-
_FORCE_INLINE_ void set_zero() {
rows[0].zero();
rows[1].zero();
@@ -248,8 +237,8 @@ struct _NO_DISCARD_ Basis {
Basis(const Quaternion &p_quaternion) { set_quaternion(p_quaternion); };
Basis(const Quaternion &p_quaternion, const Vector3 &p_scale) { set_quaternion_scale(p_quaternion, p_scale); }
- 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 Vector3 &p_axis, real_t p_angle) { set_axis_angle(p_axis, p_angle); }
+ Basis(const Vector3 &p_axis, real_t p_angle, const Vector3 &p_scale) { set_axis_angle_scale(p_axis, p_angle, p_scale); }
static Basis from_scale(const Vector3 &p_scale);
_FORCE_INLINE_ Basis(const Vector3 &row0, const Vector3 &row1, const Vector3 &row2) {
diff --git a/core/math/transform_2d.cpp b/core/math/transform_2d.cpp
index 5c946d550b..cbd2fd3fa1 100644
--- a/core/math/transform_2d.cpp
+++ b/core/math/transform_2d.cpp
@@ -65,8 +65,8 @@ Transform2D Transform2D::affine_inverse() const {
return inv;
}
-void Transform2D::rotate(const real_t p_phi) {
- *this = Transform2D(p_phi, Vector2()) * (*this);
+void Transform2D::rotate(const real_t p_angle) {
+ *this = Transform2D(p_angle, Vector2()) * (*this);
}
real_t Transform2D::get_skew() const {
@@ -241,9 +241,9 @@ Transform2D Transform2D::translated(const Vector2 &p_offset) const {
return copy;
}
-Transform2D Transform2D::rotated(const real_t p_phi) const {
+Transform2D Transform2D::rotated(const real_t p_angle) const {
Transform2D copy = *this;
- copy.rotate(p_phi);
+ copy.rotate(p_angle);
return copy;
}
diff --git a/core/math/transform_2d.h b/core/math/transform_2d.h
index 1ad874aef9..72d34a5d4c 100644
--- a/core/math/transform_2d.h
+++ b/core/math/transform_2d.h
@@ -58,15 +58,6 @@ struct _NO_DISCARD_ Transform2D {
const Vector2 &operator[](int p_idx) const { return columns[p_idx]; }
Vector2 &operator[](int p_idx) { return columns[p_idx]; }
- _FORCE_INLINE_ Vector2 get_axis(int p_axis) const {
- ERR_FAIL_INDEX_V(p_axis, 3, Vector2());
- return columns[p_axis];
- }
- _FORCE_INLINE_ void set_axis(int p_axis, const Vector2 &p_vec) {
- ERR_FAIL_INDEX(p_axis, 3);
- columns[p_axis] = p_vec;
- }
-
void invert();
Transform2D inverse() const;
@@ -79,7 +70,7 @@ struct _NO_DISCARD_ Transform2D {
void set_skew(const real_t p_angle);
_FORCE_INLINE_ void set_rotation_and_scale(const real_t p_rot, const Size2 &p_scale);
_FORCE_INLINE_ void set_rotation_scale_and_skew(const real_t p_rot, const Size2 &p_scale, const real_t p_skew);
- void rotate(const real_t p_phi);
+ void rotate(const real_t p_angle);
void scale(const Size2 &p_scale);
void scale_basis(const Size2 &p_scale);
@@ -97,7 +88,7 @@ struct _NO_DISCARD_ Transform2D {
Transform2D scaled(const Size2 &p_scale) const;
Transform2D basis_scaled(const Size2 &p_scale) const;
Transform2D translated(const Vector2 &p_offset) const;
- Transform2D rotated(const real_t p_phi) const;
+ Transform2D rotated(const real_t p_angle) const;
Transform2D untranslated() const;
diff --git a/core/math/transform_3d.cpp b/core/math/transform_3d.cpp
index e5374315e2..76b31daa76 100644
--- a/core/math/transform_3d.cpp
+++ b/core/math/transform_3d.cpp
@@ -57,16 +57,16 @@ Transform3D Transform3D::inverse() const {
return ret;
}
-void Transform3D::rotate(const Vector3 &p_axis, real_t p_phi) {
- *this = rotated(p_axis, p_phi);
+void Transform3D::rotate(const Vector3 &p_axis, real_t p_angle) {
+ *this = rotated(p_axis, p_angle);
}
-Transform3D Transform3D::rotated(const Vector3 &p_axis, real_t p_phi) const {
- return Transform3D(Basis(p_axis, p_phi), Vector3()) * (*this);
+Transform3D Transform3D::rotated(const Vector3 &p_axis, real_t p_angle) const {
+ return Transform3D(Basis(p_axis, p_angle), Vector3()) * (*this);
}
-void Transform3D::rotate_basis(const Vector3 &p_axis, real_t p_phi) {
- basis.rotate(p_axis, p_phi);
+void Transform3D::rotate_basis(const Vector3 &p_axis, real_t p_angle) {
+ basis.rotate(p_axis, p_angle);
}
Transform3D Transform3D::looking_at(const Vector3 &p_target, const Vector3 &p_up) const {
@@ -194,9 +194,9 @@ Transform3D Transform3D::operator*(const real_t p_val) const {
}
Transform3D::operator String() const {
- return "[X: " + basis.get_axis(0).operator String() +
- ", Y: " + basis.get_axis(1).operator String() +
- ", Z: " + basis.get_axis(2).operator String() +
+ return "[X: " + basis.get_column(0).operator String() +
+ ", Y: " + basis.get_column(1).operator String() +
+ ", Z: " + basis.get_column(2).operator String() +
", O: " + origin.operator String() + "]";
}
@@ -207,9 +207,9 @@ Transform3D::Transform3D(const Basis &p_basis, const Vector3 &p_origin) :
Transform3D::Transform3D(const Vector3 &p_x, const Vector3 &p_y, const Vector3 &p_z, const Vector3 &p_origin) :
origin(p_origin) {
- basis.set_axis(0, p_x);
- basis.set_axis(1, p_y);
- basis.set_axis(2, p_z);
+ basis.set_column(0, p_x);
+ basis.set_column(1, p_y);
+ basis.set_column(2, p_z);
}
Transform3D::Transform3D(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, real_t ox, real_t oy, real_t oz) {
diff --git a/core/math/transform_3d.h b/core/math/transform_3d.h
index 3f2f62b548..25832434cd 100644
--- a/core/math/transform_3d.h
+++ b/core/math/transform_3d.h
@@ -45,10 +45,10 @@ struct _NO_DISCARD_ Transform3D {
void affine_invert();
Transform3D affine_inverse() const;
- Transform3D rotated(const Vector3 &p_axis, real_t p_phi) const;
+ Transform3D rotated(const Vector3 &p_axis, real_t p_angle) const;
- void rotate(const Vector3 &p_axis, real_t p_phi);
- void rotate_basis(const Vector3 &p_axis, real_t p_phi);
+ void rotate(const Vector3 &p_axis, real_t p_angle);
+ void rotate_basis(const Vector3 &p_axis, real_t p_angle);
void set_look_at(const Vector3 &p_eye, const Vector3 &p_target, const Vector3 &p_up = Vector3(0, 1, 0));
Transform3D looking_at(const Vector3 &p_target, const Vector3 &p_up = Vector3(0, 1, 0)) const;
diff --git a/core/math/vector3.cpp b/core/math/vector3.cpp
index 87b2ac7104..f94f39b7f2 100644
--- a/core/math/vector3.cpp
+++ b/core/math/vector3.cpp
@@ -35,13 +35,13 @@
#include "core/math/vector3i.h"
#include "core/string/ustring.h"
-void Vector3::rotate(const Vector3 &p_axis, const real_t p_phi) {
- *this = Basis(p_axis, p_phi).xform(*this);
+void Vector3::rotate(const Vector3 &p_axis, const real_t p_angle) {
+ *this = Basis(p_axis, p_angle).xform(*this);
}
-Vector3 Vector3::rotated(const Vector3 &p_axis, const real_t p_phi) const {
+Vector3 Vector3::rotated(const Vector3 &p_axis, const real_t p_angle) const {
Vector3 r = *this;
- r.rotate(p_axis, p_phi);
+ r.rotate(p_axis, p_angle);
return r;
}
diff --git a/core/math/vector3.h b/core/math/vector3.h
index b22ebeaf0a..8891532f42 100644
--- a/core/math/vector3.h
+++ b/core/math/vector3.h
@@ -97,8 +97,8 @@ struct _NO_DISCARD_ Vector3 {
void snap(const Vector3 p_val);
Vector3 snapped(const Vector3 p_val) const;
- void rotate(const Vector3 &p_axis, const real_t p_phi);
- Vector3 rotated(const Vector3 &p_axis, const real_t p_phi) const;
+ void rotate(const Vector3 &p_axis, const real_t p_angle);
+ Vector3 rotated(const Vector3 &p_axis, const real_t p_angle) const;
/* Static Methods between 2 vector3s */
generated by cgit v1.2.3 (git 2.25.1) at 2025-03-24 19:48:53 +0000