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-rw-r--r--core/math/a_star.cpp68
-rw-r--r--core/math/basis.cpp21
-rw-r--r--core/math/basis.h6
-rw-r--r--core/math/convex_hull.cpp17
-rw-r--r--core/math/convex_hull.h2
-rw-r--r--core/math/dynamic_bvh.h2
-rw-r--r--core/math/triangle_mesh.h6
-rw-r--r--core/math/vector3.cpp6
-rw-r--r--core/math/vector3.h1
9 files changed, 70 insertions, 59 deletions
diff --git a/core/math/a_star.cpp b/core/math/a_star.cpp
index b380860522..d59dbf1ba8 100644
--- a/core/math/a_star.cpp
+++ b/core/math/a_star.cpp
@@ -47,8 +47,8 @@ int AStar::get_available_point_id() const {
}
void AStar::add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale) {
- ERR_FAIL_COND(p_id < 0);
- ERR_FAIL_COND(p_weight_scale < 1);
+ ERR_FAIL_COND_MSG(p_id < 0, vformat("Can't add a point with negative id: %d.", p_id));
+ ERR_FAIL_COND_MSG(p_weight_scale < 1, vformat("Can't add a point with weight scale less than one: %f.", p_weight_scale));
Point *found_pt;
bool p_exists = points.lookup(p_id, found_pt);
@@ -72,7 +72,7 @@ void AStar::add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale) {
Vector3 AStar::get_point_position(int p_id) const {
Point *p;
bool p_exists = points.lookup(p_id, p);
- ERR_FAIL_COND_V(!p_exists, Vector3());
+ ERR_FAIL_COND_V_MSG(!p_exists, Vector3(), vformat("Can't get point's position. Point with id: %d doesn't exist.", p_id));
return p->pos;
}
@@ -80,7 +80,7 @@ Vector3 AStar::get_point_position(int p_id) const {
void AStar::set_point_position(int p_id, const Vector3 &p_pos) {
Point *p;
bool p_exists = points.lookup(p_id, p);
- ERR_FAIL_COND(!p_exists);
+ ERR_FAIL_COND_MSG(!p_exists, vformat("Can't set point's position. Point with id: %d doesn't exist.", p_id));
p->pos = p_pos;
}
@@ -88,7 +88,7 @@ void AStar::set_point_position(int p_id, const Vector3 &p_pos) {
real_t AStar::get_point_weight_scale(int p_id) const {
Point *p;
bool p_exists = points.lookup(p_id, p);
- ERR_FAIL_COND_V(!p_exists, 0);
+ ERR_FAIL_COND_V_MSG(!p_exists, 0, vformat("Can't get point's weight scale. Point with id: %d doesn't exist.", p_id));
return p->weight_scale;
}
@@ -96,8 +96,8 @@ real_t AStar::get_point_weight_scale(int p_id) const {
void AStar::set_point_weight_scale(int p_id, real_t p_weight_scale) {
Point *p;
bool p_exists = points.lookup(p_id, p);
- ERR_FAIL_COND(!p_exists);
- ERR_FAIL_COND(p_weight_scale < 1);
+ ERR_FAIL_COND_MSG(!p_exists, vformat("Can't set point's weight scale. Point with id: %d doesn't exist.", p_id));
+ ERR_FAIL_COND_MSG(p_weight_scale < 1, vformat("Can't set point's weight scale less than one: %f.", p_weight_scale));
p->weight_scale = p_weight_scale;
}
@@ -105,7 +105,7 @@ void AStar::set_point_weight_scale(int p_id, real_t p_weight_scale) {
void AStar::remove_point(int p_id) {
Point *p;
bool p_exists = points.lookup(p_id, p);
- ERR_FAIL_COND(!p_exists);
+ ERR_FAIL_COND_MSG(!p_exists, vformat("Can't remove point. Point with id: %d doesn't exist.", p_id));
for (OAHashMap<int, Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
Segment s(p_id, (*it.key));
@@ -129,15 +129,15 @@ void AStar::remove_point(int p_id) {
}
void AStar::connect_points(int p_id, int p_with_id, bool bidirectional) {
- ERR_FAIL_COND(p_id == p_with_id);
+ ERR_FAIL_COND_MSG(p_id == p_with_id, vformat("Can't connect point with id: %d to itself.", p_id));
Point *a;
bool from_exists = points.lookup(p_id, a);
- ERR_FAIL_COND(!from_exists);
+ ERR_FAIL_COND_MSG(!from_exists, vformat("Can't connect points. Point with id: %d doesn't exist.", p_id));
Point *b;
bool to_exists = points.lookup(p_with_id, b);
- ERR_FAIL_COND(!to_exists);
+ ERR_FAIL_COND_MSG(!to_exists, vformat("Can't connect points. Point with id: %d doesn't exist.", p_with_id));
a->neighbours.set(b->id, b);
@@ -169,11 +169,11 @@ void AStar::connect_points(int p_id, int p_with_id, bool bidirectional) {
void AStar::disconnect_points(int p_id, int p_with_id, bool bidirectional) {
Point *a;
bool a_exists = points.lookup(p_id, a);
- ERR_FAIL_COND(!a_exists);
+ ERR_FAIL_COND_MSG(!a_exists, vformat("Can't disconnect points. Point with id: %d doesn't exist.", p_id));
Point *b;
bool b_exists = points.lookup(p_with_id, b);
- ERR_FAIL_COND(!b_exists);
+ ERR_FAIL_COND_MSG(!b_exists, vformat("Can't disconnect points. Point with id: %d doesn't exist.", p_with_id));
Segment s(p_id, p_with_id);
int remove_direction = bidirectional ? (int)Segment::BIDIRECTIONAL : s.direction;
@@ -223,7 +223,7 @@ Array AStar::get_points() {
Vector<int> AStar::get_point_connections(int p_id) {
Point *p;
bool p_exists = points.lookup(p_id, p);
- ERR_FAIL_COND_V(!p_exists, Vector<int>());
+ ERR_FAIL_COND_V_MSG(!p_exists, Vector<int>(), vformat("Can't get point's connections. Point with id: %d doesn't exist.", p_id));
Vector<int> point_list;
@@ -260,8 +260,8 @@ int AStar::get_point_capacity() const {
}
void AStar::reserve_space(int p_num_nodes) {
- ERR_FAIL_COND_MSG(p_num_nodes <= 0, "New capacity must be greater than 0, was: " + itos(p_num_nodes) + ".");
- ERR_FAIL_COND_MSG((uint32_t)p_num_nodes < points.get_capacity(), "New capacity must be greater than current capacity: " + itos(points.get_capacity()) + ", new was: " + itos(p_num_nodes) + ".");
+ ERR_FAIL_COND_MSG(p_num_nodes <= 0, vformat("New capacity must be greater than 0, new was: %d.", p_num_nodes));
+ ERR_FAIL_COND_MSG((uint32_t)p_num_nodes < points.get_capacity(), vformat("New capacity must be greater than current capacity: %d, new was: %d.", points.get_capacity(), p_num_nodes));
points.reserve(p_num_nodes);
}
@@ -389,11 +389,11 @@ real_t AStar::_estimate_cost(int p_from_id, int p_to_id) {
Point *from_point;
bool from_exists = points.lookup(p_from_id, from_point);
- ERR_FAIL_COND_V(!from_exists, 0);
+ ERR_FAIL_COND_V_MSG(!from_exists, 0, vformat("Can't estimate cost. Point with id: %d doesn't exist.", p_from_id));
Point *to_point;
bool to_exists = points.lookup(p_to_id, to_point);
- ERR_FAIL_COND_V(!to_exists, 0);
+ ERR_FAIL_COND_V_MSG(!to_exists, 0, vformat("Can't estimate cost. Point with id: %d doesn't exist.", p_to_id));
return from_point->pos.distance_to(to_point->pos);
}
@@ -406,11 +406,11 @@ real_t AStar::_compute_cost(int p_from_id, int p_to_id) {
Point *from_point;
bool from_exists = points.lookup(p_from_id, from_point);
- ERR_FAIL_COND_V(!from_exists, 0);
+ ERR_FAIL_COND_V_MSG(!from_exists, 0, vformat("Can't compute cost. Point with id: %d doesn't exist.", p_from_id));
Point *to_point;
bool to_exists = points.lookup(p_to_id, to_point);
- ERR_FAIL_COND_V(!to_exists, 0);
+ ERR_FAIL_COND_V_MSG(!to_exists, 0, vformat("Can't compute cost. Point with id: %d doesn't exist.", p_to_id));
return from_point->pos.distance_to(to_point->pos);
}
@@ -418,11 +418,11 @@ real_t AStar::_compute_cost(int p_from_id, int p_to_id) {
Vector<Vector3> AStar::get_point_path(int p_from_id, int p_to_id) {
Point *a;
bool from_exists = points.lookup(p_from_id, a);
- ERR_FAIL_COND_V(!from_exists, Vector<Vector3>());
+ ERR_FAIL_COND_V_MSG(!from_exists, Vector<Vector3>(), vformat("Can't get point path. Point with id: %d doesn't exist.", p_from_id));
Point *b;
bool to_exists = points.lookup(p_to_id, b);
- ERR_FAIL_COND_V(!to_exists, Vector<Vector3>());
+ ERR_FAIL_COND_V_MSG(!to_exists, Vector<Vector3>(), vformat("Can't get point path. Point with id: %d doesn't exist.", p_to_id));
if (a == b) {
Vector<Vector3> ret;
@@ -467,11 +467,11 @@ Vector<Vector3> AStar::get_point_path(int p_from_id, int p_to_id) {
Vector<int> AStar::get_id_path(int p_from_id, int p_to_id) {
Point *a;
bool from_exists = points.lookup(p_from_id, a);
- ERR_FAIL_COND_V(!from_exists, Vector<int>());
+ ERR_FAIL_COND_V_MSG(!from_exists, Vector<int>(), vformat("Can't get id path. Point with id: %d doesn't exist.", p_from_id));
Point *b;
bool to_exists = points.lookup(p_to_id, b);
- ERR_FAIL_COND_V(!to_exists, Vector<int>());
+ ERR_FAIL_COND_V_MSG(!to_exists, Vector<int>(), vformat("Can't get id path. Point with id: %d doesn't exist.", p_to_id));
if (a == b) {
Vector<int> ret;
@@ -516,7 +516,7 @@ Vector<int> AStar::get_id_path(int p_from_id, int p_to_id) {
void AStar::set_point_disabled(int p_id, bool p_disabled) {
Point *p;
bool p_exists = points.lookup(p_id, p);
- ERR_FAIL_COND(!p_exists);
+ ERR_FAIL_COND_MSG(!p_exists, vformat("Can't set if point is disabled. Point with id: %d doesn't exist.", p_id));
p->enabled = !p_disabled;
}
@@ -524,7 +524,7 @@ void AStar::set_point_disabled(int p_id, bool p_disabled) {
bool AStar::is_point_disabled(int p_id) const {
Point *p;
bool p_exists = points.lookup(p_id, p);
- ERR_FAIL_COND_V(!p_exists, false);
+ ERR_FAIL_COND_V_MSG(!p_exists, false, vformat("Can't get if point is disabled. Point with id: %d doesn't exist.", p_id));
return !p->enabled;
}
@@ -663,11 +663,11 @@ real_t AStar2D::_estimate_cost(int p_from_id, int p_to_id) {
AStar::Point *from_point;
bool from_exists = astar.points.lookup(p_from_id, from_point);
- ERR_FAIL_COND_V(!from_exists, 0);
+ ERR_FAIL_COND_V_MSG(!from_exists, 0, vformat("Can't estimate cost. Point with id: %d doesn't exist.", p_from_id));
AStar::Point *to_point;
bool to_exists = astar.points.lookup(p_to_id, to_point);
- ERR_FAIL_COND_V(!to_exists, 0);
+ ERR_FAIL_COND_V_MSG(!to_exists, 0, vformat("Can't estimate cost. Point with id: %d doesn't exist.", p_to_id));
return from_point->pos.distance_to(to_point->pos);
}
@@ -680,11 +680,11 @@ real_t AStar2D::_compute_cost(int p_from_id, int p_to_id) {
AStar::Point *from_point;
bool from_exists = astar.points.lookup(p_from_id, from_point);
- ERR_FAIL_COND_V(!from_exists, 0);
+ ERR_FAIL_COND_V_MSG(!from_exists, 0, vformat("Can't compute cost. Point with id: %d doesn't exist.", p_from_id));
AStar::Point *to_point;
bool to_exists = astar.points.lookup(p_to_id, to_point);
- ERR_FAIL_COND_V(!to_exists, 0);
+ ERR_FAIL_COND_V_MSG(!to_exists, 0, vformat("Can't compute cost. Point with id: %d doesn't exist.", p_to_id));
return from_point->pos.distance_to(to_point->pos);
}
@@ -692,11 +692,11 @@ real_t AStar2D::_compute_cost(int p_from_id, int p_to_id) {
Vector<Vector2> AStar2D::get_point_path(int p_from_id, int p_to_id) {
AStar::Point *a;
bool from_exists = astar.points.lookup(p_from_id, a);
- ERR_FAIL_COND_V(!from_exists, Vector<Vector2>());
+ ERR_FAIL_COND_V_MSG(!from_exists, Vector<Vector2>(), vformat("Can't get point path. Point with id: %d doesn't exist.", p_from_id));
AStar::Point *b;
bool to_exists = astar.points.lookup(p_to_id, b);
- ERR_FAIL_COND_V(!to_exists, Vector<Vector2>());
+ ERR_FAIL_COND_V_MSG(!to_exists, Vector<Vector2>(), vformat("Can't get point path. Point with id: %d doesn't exist.", p_to_id));
if (a == b) {
Vector<Vector2> ret;
@@ -741,11 +741,11 @@ Vector<Vector2> AStar2D::get_point_path(int p_from_id, int p_to_id) {
Vector<int> AStar2D::get_id_path(int p_from_id, int p_to_id) {
AStar::Point *a;
bool from_exists = astar.points.lookup(p_from_id, a);
- ERR_FAIL_COND_V(!from_exists, Vector<int>());
+ ERR_FAIL_COND_V_MSG(!from_exists, Vector<int>(), vformat("Can't get id path. Point with id: %d doesn't exist.", p_from_id));
AStar::Point *b;
bool to_exists = astar.points.lookup(p_to_id, b);
- ERR_FAIL_COND_V(!to_exists, Vector<int>());
+ ERR_FAIL_COND_V_MSG(!to_exists, Vector<int>(), vformat("Can't get id path. Point with id: %d doesn't exist.", p_to_id));
if (a == b) {
Vector<int> ret;
diff --git a/core/math/basis.cpp b/core/math/basis.cpp
index 5c42213e61..a7f89522d7 100644
--- a/core/math/basis.cpp
+++ b/core/math/basis.cpp
@@ -207,6 +207,10 @@ Basis Basis::transposed() const {
return tr;
}
+Basis Basis::from_scale(const Vector3 &p_scale) {
+ return Basis(p_scale.x, 0, 0, 0, p_scale.y, 0, 0, 0, p_scale.z);
+}
+
// Multiplies the matrix from left by the scaling matrix: M -> S.M
// See the comment for Basis::rotated for further explanation.
void Basis::scale(const Vector3 &p_scale) {
@@ -246,10 +250,7 @@ void Basis::make_scale_uniform() {
}
Basis Basis::scaled_local(const Vector3 &p_scale) const {
- Basis b;
- b.set_diagonal(p_scale);
-
- return (*this) * b;
+ return (*this) * Basis::from_scale(p_scale);
}
Vector3 Basis::get_scale_abs() const {
@@ -775,7 +776,7 @@ Basis::operator String() const {
Quaternion Basis::get_quaternion() const {
#ifdef MATH_CHECKS
- ERR_FAIL_COND_V_MSG(!is_rotation(), Quaternion(), "Basis must be normalized in order to be casted to a Quaternion. Use get_rotation_quaternion() or call orthonormalized() instead.");
+ ERR_FAIL_COND_V_MSG(!is_rotation(), Quaternion(), "Basis must be normalized in order to be casted to a Quaternion. Use get_rotation_quaternion() or call orthonormalized() if the Basis contains linearly independent vectors.");
#endif
/* Allow getting a quaternion from an unnormalized transform */
Basis m = *this;
@@ -991,21 +992,23 @@ void Basis::set_axis_angle(const Vector3 &p_axis, real_t p_phi) {
}
void Basis::set_axis_angle_scale(const Vector3 &p_axis, real_t p_phi, const Vector3 &p_scale) {
- set_diagonal(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);
+ _set_diagonal(p_scale);
rotate(p_euler);
}
void Basis::set_quaternion_scale(const Quaternion &p_quaternion, const Vector3 &p_scale) {
- set_diagonal(p_scale);
+ _set_diagonal(p_scale);
rotate(p_quaternion);
}
-void Basis::set_diagonal(const Vector3 &p_diag) {
+// This also sets the non-diagonal elements to 0, which is misleading from the
+// name, so we want this method to be private. Use `from_scale` externally.
+void Basis::_set_diagonal(const Vector3 &p_diag) {
elements[0][0] = p_diag.x;
elements[0][1] = 0;
elements[0][2] = 0;
diff --git a/core/math/basis.h b/core/math/basis.h
index 9d8ed16e29..eb107d7e4e 100644
--- a/core/math/basis.h
+++ b/core/math/basis.h
@@ -35,6 +35,9 @@
#include "core/math/vector3.h"
class Basis {
+private:
+ void _set_diagonal(const Vector3 &p_diag);
+
public:
Vector3 elements[3] = {
Vector3(1, 0, 0),
@@ -166,8 +169,6 @@ 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;
@@ -254,6 +255,7 @@ public:
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); }
+ static Basis from_scale(const Vector3 &p_scale);
_FORCE_INLINE_ Basis(const Vector3 &row0, const Vector3 &row1, const Vector3 &row2) {
elements[0] = row0;
diff --git a/core/math/convex_hull.cpp b/core/math/convex_hull.cpp
index 21cb0efe20..f67035c803 100644
--- a/core/math/convex_hull.cpp
+++ b/core/math/convex_hull.cpp
@@ -2260,10 +2260,21 @@ Error ConvexHullComputer::convex_hull(const Vector<Vector3> &p_points, Geometry3
r_mesh.vertices = ch.vertices;
- r_mesh.edges.resize(ch.edges.size());
+ // Copy the edges over. There's two "half-edges" for every edge, so we pick only one of them.
+ r_mesh.edges.resize(ch.edges.size() / 2);
+ uint32_t edges_copied = 0;
for (uint32_t i = 0; i < ch.edges.size(); i++) {
- r_mesh.edges.write[i].a = (&ch.edges[i])->get_source_vertex();
- r_mesh.edges.write[i].b = (&ch.edges[i])->get_target_vertex();
+ uint32_t a = (&ch.edges[i])->get_source_vertex();
+ uint32_t b = (&ch.edges[i])->get_target_vertex();
+ if (a < b) { // Copy only the "canonical" edge. For the reverse edge, this will be false.
+ ERR_BREAK(edges_copied >= (uint32_t)r_mesh.edges.size());
+ r_mesh.edges.write[edges_copied].a = a;
+ r_mesh.edges.write[edges_copied].b = b;
+ edges_copied++;
+ }
+ }
+ if (edges_copied != (uint32_t)r_mesh.edges.size()) {
+ ERR_PRINT("Invalid edge count.");
}
r_mesh.faces.resize(ch.faces.size());
diff --git a/core/math/convex_hull.h b/core/math/convex_hull.h
index a860d60b02..806c6cc3fb 100644
--- a/core/math/convex_hull.h
+++ b/core/math/convex_hull.h
@@ -49,7 +49,7 @@ subject to the following restrictions:
#include "core/templates/vector.h"
/// Convex hull implementation based on Preparata and Hong
-/// See https://code.google.com/p/bullet/issues/detail?id=275
+/// See https://code.google.com/archive/p/bullet/issues/275
/// Ole Kniemeyer, MAXON Computer GmbH
class ConvexHullComputer {
public:
diff --git a/core/math/dynamic_bvh.h b/core/math/dynamic_bvh.h
index d63132b4da..0b6286cd9d 100644
--- a/core/math/dynamic_bvh.h
+++ b/core/math/dynamic_bvh.h
@@ -41,7 +41,7 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans https://bulletphysics.org
+Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/core/math/triangle_mesh.h b/core/math/triangle_mesh.h
index 463b0dd5c8..2d3b4db4bb 100644
--- a/core/math/triangle_mesh.h
+++ b/core/math/triangle_mesh.h
@@ -37,11 +37,13 @@
class TriangleMesh : public RefCounted {
GDCLASS(TriangleMesh, RefCounted);
+public:
struct Triangle {
Vector3 normal;
int indices[3];
};
+private:
Vector<Triangle> triangles;
Vector<Vector3> vertices;
@@ -86,8 +88,8 @@ public:
Vector3 get_area_normal(const AABB &p_aabb) const;
Vector<Face3> get_faces() const;
- Vector<Triangle> get_triangles() const { return triangles; }
- Vector<Vector3> get_vertices() const { return vertices; }
+ const Vector<Triangle> &get_triangles() const { return triangles; }
+ const Vector<Vector3> &get_vertices() const { return vertices; }
void get_indices(Vector<int> *r_triangles_indices) const;
void create(const Vector<Vector3> &p_faces);
diff --git a/core/math/vector3.cpp b/core/math/vector3.cpp
index 401c3ccd9c..fa212c178a 100644
--- a/core/math/vector3.cpp
+++ b/core/math/vector3.cpp
@@ -115,12 +115,6 @@ Basis Vector3::outer(const Vector3 &p_b) const {
return Basis(row0, row1, row2);
}
-Basis Vector3::to_diagonal_matrix() const {
- return Basis(x, 0, 0,
- 0, y, 0,
- 0, 0, z);
-}
-
bool Vector3::is_equal_approx(const Vector3 &p_v) const {
return Math::is_equal_approx(x, p_v.x) && Math::is_equal_approx(y, p_v.y) && Math::is_equal_approx(z, p_v.z);
}
diff --git a/core/math/vector3.h b/core/math/vector3.h
index 6a4c42f41b..e65ac31c02 100644
--- a/core/math/vector3.h
+++ b/core/math/vector3.h
@@ -106,7 +106,6 @@ struct Vector3 {
_FORCE_INLINE_ Vector3 cross(const Vector3 &p_b) const;
_FORCE_INLINE_ real_t dot(const Vector3 &p_b) const;
Basis outer(const Vector3 &p_b) const;
- Basis to_diagonal_matrix() const;
_FORCE_INLINE_ Vector3 abs() const;
_FORCE_INLINE_ Vector3 floor() const;
generated by cgit v1.2.3 (git 2.25.1) at 2025-04-04 00:29:53 +0000