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-rw-r--r--core/math/a_star.cpp14
-rw-r--r--core/math/basis.cpp214
-rw-r--r--core/math/basis.h13
-rw-r--r--core/math/expression.cpp4
-rw-r--r--core/math/transform_2d.cpp7
5 files changed, 224 insertions, 28 deletions
diff --git a/core/math/a_star.cpp b/core/math/a_star.cpp
index 580a7cf7bb..30f712b2c3 100644
--- a/core/math/a_star.cpp
+++ b/core/math/a_star.cpp
@@ -280,10 +280,16 @@ int AStar::get_closest_point(const Vector3 &p_point, bool p_include_disabled) co
continue; // Disabled points should not be considered.
}
+ // Keep the closest point's ID, and in case of multiple closest IDs,
+ // the smallest one (makes it deterministic).
real_t d = p_point.distance_squared_to((*it.value)->pos);
- if (closest_id < 0 || d < closest_dist) {
+ int id = *(it.key);
+ if (d <= closest_dist) {
+ if (d == closest_dist && id > closest_id) { // Keep lowest ID.
+ continue;
+ }
closest_dist = d;
- closest_id = *(it.key);
+ closest_id = id;
}
}
@@ -291,7 +297,6 @@ int AStar::get_closest_point(const Vector3 &p_point, bool p_include_disabled) co
}
Vector3 AStar::get_closest_position_in_segment(const Vector3 &p_point) const {
- bool found = false;
real_t closest_dist = 1e20;
Vector3 closest_point;
@@ -311,10 +316,9 @@ Vector3 AStar::get_closest_position_in_segment(const Vector3 &p_point) const {
Vector3 p = Geometry3D::get_closest_point_to_segment(p_point, segment);
real_t d = p_point.distance_squared_to(p);
- if (!found || d < closest_dist) {
+ if (d < closest_dist) {
closest_point = p;
closest_dist = d;
- found = true;
}
}
diff --git a/core/math/basis.cpp b/core/math/basis.cpp
index cbfd09810c..df5199b0f9 100644
--- a/core/math/basis.cpp
+++ b/core/math/basis.cpp
@@ -428,12 +428,9 @@ Vector3 Basis::get_euler_xyz() const {
// -cx*cz*sy+sx*sz cz*sx+cx*sy*sz cx*cy
Vector3 euler;
-#ifdef MATH_CHECKS
- ERR_FAIL_COND_V(!is_rotation(), euler);
-#endif
real_t sy = elements[0][2];
- if (sy < 1.0) {
- if (sy > -1.0) {
+ if (sy < (1.0 - CMP_EPSILON)) {
+ if (sy > -(1.0 - CMP_EPSILON)) {
// is this a pure Y rotation?
if (elements[1][0] == 0.0 && elements[0][1] == 0.0 && elements[1][2] == 0 && elements[2][1] == 0 && elements[1][1] == 1) {
// return the simplest form (human friendlier in editor and scripts)
@@ -446,12 +443,12 @@ Vector3 Basis::get_euler_xyz() const {
euler.z = Math::atan2(-elements[0][1], elements[0][0]);
}
} else {
- euler.x = -Math::atan2(elements[0][1], elements[1][1]);
+ euler.x = Math::atan2(elements[2][1], elements[1][1]);
euler.y = -Math_PI / 2.0;
euler.z = 0.0;
}
} else {
- euler.x = Math::atan2(elements[0][1], elements[1][1]);
+ euler.x = Math::atan2(elements[2][1], elements[1][1]);
euler.y = Math_PI / 2.0;
euler.z = 0.0;
}
@@ -481,15 +478,106 @@ void Basis::set_euler_xyz(const Vector3 &p_euler) {
*this = xmat * (ymat * zmat);
}
+Vector3 Basis::get_euler_xzy() const {
+ // Euler angles in XZY convention.
+ // See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
+ //
+ // rot = cz*cy -sz cz*sy
+ // sx*sy+cx*cy*sz cx*cz cx*sz*sy-cy*sx
+ // cy*sx*sz cz*sx cx*cy+sx*sz*sy
+
+ Vector3 euler;
+ real_t sz = elements[0][1];
+ if (sz < (1.0 - CMP_EPSILON)) {
+ if (sz > -(1.0 - CMP_EPSILON)) {
+ euler.x = Math::atan2(elements[2][1], elements[1][1]);
+ euler.y = Math::atan2(elements[0][2], elements[0][0]);
+ euler.z = Math::asin(-sz);
+ } else {
+ // It's -1
+ euler.x = -Math::atan2(elements[1][2], elements[2][2]);
+ euler.y = 0.0;
+ euler.z = Math_PI / 2.0;
+ }
+ } else {
+ // It's 1
+ euler.x = -Math::atan2(elements[1][2], elements[2][2]);
+ euler.y = 0.0;
+ euler.z = -Math_PI / 2.0;
+ }
+ return euler;
+}
+
+void Basis::set_euler_xzy(const Vector3 &p_euler) {
+ real_t c, s;
+
+ c = Math::cos(p_euler.x);
+ s = Math::sin(p_euler.x);
+ Basis xmat(1.0, 0.0, 0.0, 0.0, c, -s, 0.0, s, c);
+
+ c = Math::cos(p_euler.y);
+ s = Math::sin(p_euler.y);
+ Basis ymat(c, 0.0, s, 0.0, 1.0, 0.0, -s, 0.0, c);
+
+ c = Math::cos(p_euler.z);
+ s = Math::sin(p_euler.z);
+ Basis zmat(c, -s, 0.0, s, c, 0.0, 0.0, 0.0, 1.0);
+
+ *this = xmat * zmat * ymat;
+}
+
+Vector3 Basis::get_euler_yzx() const {
+ // Euler angles in YZX convention.
+ // See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
+ //
+ // rot = cy*cz sy*sx-cy*cx*sz cx*sy+cy*sz*sx
+ // sz cz*cx -cz*sx
+ // -cz*sy cy*sx+cx*sy*sz cy*cx-sy*sz*sx
+
+ Vector3 euler;
+ real_t sz = elements[1][0];
+ if (sz < (1.0 - CMP_EPSILON)) {
+ if (sz > -(1.0 - CMP_EPSILON)) {
+ euler.x = Math::atan2(-elements[1][2], elements[1][1]);
+ euler.y = Math::atan2(-elements[2][0], elements[0][0]);
+ euler.z = Math::asin(sz);
+ } else {
+ // It's -1
+ euler.x = Math::atan2(elements[2][1], elements[2][2]);
+ euler.y = 0.0;
+ euler.z = -Math_PI / 2.0;
+ }
+ } else {
+ // It's 1
+ euler.x = Math::atan2(elements[2][1], elements[2][2]);
+ euler.y = 0.0;
+ euler.z = Math_PI / 2.0;
+ }
+ return euler;
+}
+
+void Basis::set_euler_yzx(const Vector3 &p_euler) {
+ real_t c, s;
+
+ c = Math::cos(p_euler.x);
+ s = Math::sin(p_euler.x);
+ Basis xmat(1.0, 0.0, 0.0, 0.0, c, -s, 0.0, s, c);
+
+ c = Math::cos(p_euler.y);
+ s = Math::sin(p_euler.y);
+ Basis ymat(c, 0.0, s, 0.0, 1.0, 0.0, -s, 0.0, c);
+
+ c = Math::cos(p_euler.z);
+ s = Math::sin(p_euler.z);
+ Basis zmat(c, -s, 0.0, s, c, 0.0, 0.0, 0.0, 1.0);
+
+ *this = ymat * zmat * xmat;
+}
+
// get_euler_yxz returns a vector containing the Euler angles in the YXZ convention,
// as in first-Z, then-X, last-Y. The angles for X, Y, and Z rotations are returned
// as the x, y, and z components of a Vector3 respectively.
Vector3 Basis::get_euler_yxz() const {
- /* checking this is a bad idea, because obtaining from scaled transform is a valid use case
-#ifdef MATH_CHECKS
- ERR_FAIL_COND(!is_rotation());
-#endif
-*/
// Euler angles in YXZ convention.
// See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
//
@@ -501,8 +589,8 @@ Vector3 Basis::get_euler_yxz() const {
real_t m12 = elements[1][2];
- if (m12 < 1) {
- if (m12 > -1) {
+ if (m12 < (1 - CMP_EPSILON)) {
+ if (m12 > -(1 - CMP_EPSILON)) {
// is this a pure X rotation?
if (elements[1][0] == 0 && elements[0][1] == 0 && elements[0][2] == 0 && elements[2][0] == 0 && elements[0][0] == 1) {
// return the simplest form (human friendlier in editor and scripts)
@@ -516,12 +604,12 @@ Vector3 Basis::get_euler_yxz() const {
}
} else { // m12 == -1
euler.x = Math_PI * 0.5;
- euler.y = -atan2(-elements[0][1], elements[0][0]);
+ euler.y = atan2(elements[0][1], elements[0][0]);
euler.z = 0;
}
} else { // m12 == 1
euler.x = -Math_PI * 0.5;
- euler.y = -atan2(-elements[0][1], elements[0][0]);
+ euler.y = -atan2(elements[0][1], elements[0][0]);
euler.z = 0;
}
@@ -551,6 +639,100 @@ void Basis::set_euler_yxz(const Vector3 &p_euler) {
*this = ymat * xmat * zmat;
}
+Vector3 Basis::get_euler_zxy() const {
+ // Euler angles in ZXY convention.
+ // See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
+ //
+ // rot = cz*cy-sz*sx*sy -cx*sz cz*sy+cy*sz*sx
+ // cy*sz+cz*sx*sy cz*cx sz*sy-cz*cy*sx
+ // -cx*sy sx cx*cy
+ Vector3 euler;
+ real_t sx = elements[2][1];
+ if (sx < (1.0 - CMP_EPSILON)) {
+ if (sx > -(1.0 - CMP_EPSILON)) {
+ euler.x = Math::asin(sx);
+ euler.y = Math::atan2(-elements[2][0], elements[2][2]);
+ euler.z = Math::atan2(-elements[0][1], elements[1][1]);
+ } else {
+ // It's -1
+ euler.x = -Math_PI / 2.0;
+ euler.y = Math::atan2(elements[0][2], elements[0][0]);
+ euler.z = 0;
+ }
+ } else {
+ // It's 1
+ euler.x = Math_PI / 2.0;
+ euler.y = Math::atan2(elements[0][2], elements[0][0]);
+ euler.z = 0;
+ }
+ return euler;
+}
+
+void Basis::set_euler_zxy(const Vector3 &p_euler) {
+ real_t c, s;
+
+ c = Math::cos(p_euler.x);
+ s = Math::sin(p_euler.x);
+ Basis xmat(1.0, 0.0, 0.0, 0.0, c, -s, 0.0, s, c);
+
+ c = Math::cos(p_euler.y);
+ s = Math::sin(p_euler.y);
+ Basis ymat(c, 0.0, s, 0.0, 1.0, 0.0, -s, 0.0, c);
+
+ c = Math::cos(p_euler.z);
+ s = Math::sin(p_euler.z);
+ Basis zmat(c, -s, 0.0, s, c, 0.0, 0.0, 0.0, 1.0);
+
+ *this = zmat * xmat * ymat;
+}
+
+Vector3 Basis::get_euler_zyx() const {
+ // Euler angles in ZYX convention.
+ // See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
+ //
+ // rot = cz*cy cz*sy*sx-cx*sz sz*sx+cz*cx*cy
+ // cy*sz cz*cx+sz*sy*sx cx*sz*sy-cz*sx
+ // -sy cy*sx cy*cx
+ Vector3 euler;
+ real_t sy = elements[2][0];
+ if (sy < (1.0 - CMP_EPSILON)) {
+ if (sy > -(1.0 - CMP_EPSILON)) {
+ euler.x = Math::atan2(elements[2][1], elements[2][2]);
+ euler.y = Math::asin(-sy);
+ euler.z = Math::atan2(elements[1][0], elements[0][0]);
+ } else {
+ // It's -1
+ euler.x = 0;
+ euler.y = Math_PI / 2.0;
+ euler.z = -Math::atan2(elements[0][1], elements[1][1]);
+ }
+ } else {
+ // It's 1
+ euler.x = 0;
+ euler.y = -Math_PI / 2.0;
+ euler.z = -Math::atan2(elements[0][1], elements[1][1]);
+ }
+ return euler;
+}
+
+void Basis::set_euler_zyx(const Vector3 &p_euler) {
+ real_t c, s;
+
+ c = Math::cos(p_euler.x);
+ s = Math::sin(p_euler.x);
+ Basis xmat(1.0, 0.0, 0.0, 0.0, c, -s, 0.0, s, c);
+
+ c = Math::cos(p_euler.y);
+ s = Math::sin(p_euler.y);
+ Basis ymat(c, 0.0, s, 0.0, 1.0, 0.0, -s, 0.0, c);
+
+ c = Math::cos(p_euler.z);
+ s = Math::sin(p_euler.z);
+ Basis zmat(c, -s, 0.0, s, c, 0.0, 0.0, 0.0, 1.0);
+
+ *this = zmat * ymat * xmat;
+}
+
bool Basis::is_equal_approx(const Basis &p_basis) const {
return elements[0].is_equal_approx(p_basis.elements[0]) && elements[1].is_equal_approx(p_basis.elements[1]) && elements[2].is_equal_approx(p_basis.elements[2]);
}
diff --git a/core/math/basis.h b/core/math/basis.h
index d870a6b099..985fb0e44f 100644
--- a/core/math/basis.h
+++ b/core/math/basis.h
@@ -88,9 +88,22 @@ public:
Vector3 get_euler_xyz() const;
void set_euler_xyz(const Vector3 &p_euler);
+
+ Vector3 get_euler_xzy() const;
+ void set_euler_xzy(const Vector3 &p_euler);
+
+ Vector3 get_euler_yzx() const;
+ void set_euler_yzx(const Vector3 &p_euler);
+
Vector3 get_euler_yxz() const;
void set_euler_yxz(const Vector3 &p_euler);
+ Vector3 get_euler_zxy() const;
+ void set_euler_zxy(const Vector3 &p_euler);
+
+ Vector3 get_euler_zyx() const;
+ void set_euler_zyx(const Vector3 &p_euler);
+
Quat get_quat() const;
void set_quat(const Quat &p_quat);
diff --git a/core/math/expression.cpp b/core/math/expression.cpp
index db3bf2f830..6421606ca2 100644
--- a/core/math/expression.cpp
+++ b/core/math/expression.cpp
@@ -896,6 +896,7 @@ Error Expression::_get_token(Token &r_token) {
return OK;
}
+ case '\'':
case '"': {
String str;
while (true) {
@@ -905,7 +906,8 @@ Error Expression::_get_token(Token &r_token) {
_set_error("Unterminated String");
r_token.type = TK_ERROR;
return ERR_PARSE_ERROR;
- } else if (ch == '"') {
+ } else if (ch == cchar) {
+ // cchar contain a corresponding quote symbol
break;
} else if (ch == '\\') {
//escaped characters...
diff --git a/core/math/transform_2d.cpp b/core/math/transform_2d.cpp
index dee1b3b23e..180aeaa0af 100644
--- a/core/math/transform_2d.cpp
+++ b/core/math/transform_2d.cpp
@@ -78,12 +78,7 @@ void Transform2D::set_skew(float p_angle) {
}
real_t Transform2D::get_rotation() const {
- real_t det = basis_determinant();
- Transform2D m = orthonormalized();
- if (det < 0) {
- m.scale_basis(Size2(1, -1)); // convention to separate rotation and reflection for 2D is to absorb a flip along y into scaling.
- }
- return Math::atan2(m[0].y, m[0].x);
+ return Math::atan2(elements[0].y, elements[0].x);
}
void Transform2D::set_rotation(real_t p_rot) {
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-12 09:18:22 +0000