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-rw-r--r--core/math/audio_frame.h8
-rw-r--r--core/math/basis.cpp26
-rw-r--r--core/math/basis.h23
-rw-r--r--core/math/expression.cpp2
-rw-r--r--core/math/math_defs.h9
-rw-r--r--core/math/quaternion.cpp29
-rw-r--r--core/math/quaternion.h7
7 files changed, 44 insertions, 60 deletions
diff --git a/core/math/audio_frame.h b/core/math/audio_frame.h
index 1a80faaa12..d06f9bef1e 100644
--- a/core/math/audio_frame.h
+++ b/core/math/audio_frame.h
@@ -34,7 +34,7 @@
#include "core/math/vector2.h"
#include "core/typedefs.h"
-static inline float undenormalise(volatile float f) {
+static inline float undenormalize(volatile float f) {
union {
uint32_t i;
float f;
@@ -101,9 +101,9 @@ struct AudioFrame {
r /= p_sample;
}
- _ALWAYS_INLINE_ void undenormalise() {
- l = ::undenormalise(l);
- r = ::undenormalise(r);
+ _ALWAYS_INLINE_ void undenormalize() {
+ l = ::undenormalize(l);
+ r = ::undenormalize(r);
}
_FORCE_INLINE_ AudioFrame lerp(const AudioFrame &p_b, float p_t) const {
diff --git a/core/math/basis.cpp b/core/math/basis.cpp
index 9b8188eed8..41ec6d8ce3 100644
--- a/core/math/basis.cpp
+++ b/core/math/basis.cpp
@@ -453,7 +453,7 @@ void Basis::get_rotation_axis_angle_local(Vector3 &p_axis, real_t &p_angle) cons
Vector3 Basis::get_euler(EulerOrder p_order) const {
switch (p_order) {
- case EULER_ORDER_XYZ: {
+ case EulerOrder::XYZ: {
// Euler angles in XYZ convention.
// See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
//
@@ -488,7 +488,7 @@ Vector3 Basis::get_euler(EulerOrder p_order) const {
}
return euler;
} break;
- case EULER_ORDER_XZY: {
+ case EulerOrder::XZY: {
// Euler angles in XZY convention.
// See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
//
@@ -517,7 +517,7 @@ Vector3 Basis::get_euler(EulerOrder p_order) const {
}
return euler;
} break;
- case EULER_ORDER_YXZ: {
+ case EulerOrder::YXZ: {
// Euler angles in YXZ convention.
// See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
//
@@ -555,7 +555,7 @@ Vector3 Basis::get_euler(EulerOrder p_order) const {
return euler;
} break;
- case EULER_ORDER_YZX: {
+ case EulerOrder::YZX: {
// Euler angles in YZX convention.
// See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
//
@@ -584,7 +584,7 @@ Vector3 Basis::get_euler(EulerOrder p_order) const {
}
return euler;
} break;
- case EULER_ORDER_ZXY: {
+ case EulerOrder::ZXY: {
// Euler angles in ZXY convention.
// See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
//
@@ -612,7 +612,7 @@ Vector3 Basis::get_euler(EulerOrder p_order) const {
}
return euler;
} break;
- case EULER_ORDER_ZYX: {
+ case EulerOrder::ZYX: {
// Euler angles in ZYX convention.
// See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
//
@@ -663,22 +663,22 @@ void Basis::set_euler(const Vector3 &p_euler, EulerOrder p_order) {
Basis zmat(c, -s, 0, s, c, 0, 0, 0, 1);
switch (p_order) {
- case EULER_ORDER_XYZ: {
+ case EulerOrder::XYZ: {
*this = xmat * (ymat * zmat);
} break;
- case EULER_ORDER_XZY: {
+ case EulerOrder::XZY: {
*this = xmat * zmat * ymat;
} break;
- case EULER_ORDER_YXZ: {
+ case EulerOrder::YXZ: {
*this = ymat * xmat * zmat;
} break;
- case EULER_ORDER_YZX: {
+ case EulerOrder::YZX: {
*this = ymat * zmat * xmat;
} break;
- case EULER_ORDER_ZXY: {
+ case EulerOrder::ZXY: {
*this = zmat * xmat * ymat;
} break;
- case EULER_ORDER_ZYX: {
+ case EulerOrder::ZYX: {
*this = zmat * ymat * xmat;
} break;
default: {
@@ -815,7 +815,7 @@ void Basis::get_axis_angle(Vector3 &r_axis, real_t &r_angle) const {
return;
}
// As we have reached here there are no singularities so we can handle normally.
- double s = Math::sqrt((rows[2][1] - rows[1][2]) * (rows[2][1] - rows[1][2]) + (rows[0][2] - rows[2][0]) * (rows[0][2] - rows[2][0]) + (rows[1][0] - rows[0][1]) * (rows[1][0] - rows[0][1])); // Used to normalise.
+ double s = Math::sqrt((rows[2][1] - rows[1][2]) * (rows[2][1] - rows[1][2]) + (rows[0][2] - rows[2][0]) * (rows[0][2] - rows[2][0]) + (rows[1][0] - rows[0][1]) * (rows[1][0] - rows[0][1])); // Used to normalize.
if (Math::abs(s) < CMP_EPSILON) {
// Prevent divide by zero, should not happen if matrix is orthogonal and should be caught by singularity test above.
diff --git a/core/math/basis.h b/core/math/basis.h
index 69bef5a7be..a1d9fccef1 100644
--- a/core/math/basis.h
+++ b/core/math/basis.h
@@ -56,15 +56,6 @@ struct _NO_DISCARD_ Basis {
_FORCE_INLINE_ real_t determinant() const;
- enum EulerOrder {
- EULER_ORDER_XYZ,
- EULER_ORDER_XZY,
- EULER_ORDER_YXZ,
- EULER_ORDER_YZX,
- EULER_ORDER_ZXY,
- EULER_ORDER_ZYX
- };
-
void from_z(const Vector3 &p_z);
void rotate(const Vector3 &p_axis, real_t p_angle);
@@ -73,13 +64,13 @@ struct _NO_DISCARD_ Basis {
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, EulerOrder p_order = EULER_ORDER_YXZ);
- Basis rotated(const Vector3 &p_euler, EulerOrder p_order = EULER_ORDER_YXZ) const;
+ void rotate(const Vector3 &p_euler, EulerOrder p_order = EulerOrder::YXZ);
+ Basis rotated(const Vector3 &p_euler, EulerOrder p_order = EulerOrder::YXZ) const;
void rotate(const Quaternion &p_quaternion);
Basis rotated(const Quaternion &p_quaternion) const;
- Vector3 get_euler_normalized(EulerOrder p_order = EULER_ORDER_YXZ) const;
+ Vector3 get_euler_normalized(EulerOrder p_order = EulerOrder::YXZ) 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;
Quaternion get_rotation_quaternion() const;
@@ -88,9 +79,9 @@ struct _NO_DISCARD_ Basis {
Vector3 rotref_posscale_decomposition(Basis &rotref) const;
- Vector3 get_euler(EulerOrder p_order = EULER_ORDER_YXZ) const;
- void set_euler(const Vector3 &p_euler, EulerOrder p_order = EULER_ORDER_YXZ);
- static Basis from_euler(const Vector3 &p_euler, EulerOrder p_order = EULER_ORDER_YXZ) {
+ Vector3 get_euler(EulerOrder p_order = EulerOrder::YXZ) const;
+ void set_euler(const Vector3 &p_euler, EulerOrder p_order = EulerOrder::YXZ);
+ static Basis from_euler(const Vector3 &p_euler, EulerOrder p_order = EulerOrder::YXZ) {
Basis b;
b.set_euler(p_euler, p_order);
return b;
@@ -119,7 +110,7 @@ struct _NO_DISCARD_ Basis {
Vector3 get_scale_local() const;
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, EulerOrder p_order = EULER_ORDER_YXZ);
+ void set_euler_scale(const Vector3 &p_euler, const Vector3 &p_scale, EulerOrder p_order = EulerOrder::YXZ);
void set_quaternion_scale(const Quaternion &p_quaternion, const Vector3 &p_scale);
// transposed dot products
diff --git a/core/math/expression.cpp b/core/math/expression.cpp
index dcec3929fe..26b809e7f2 100644
--- a/core/math/expression.cpp
+++ b/core/math/expression.cpp
@@ -1420,7 +1420,7 @@ bool Expression::_execute(const Array &p_inputs, Object *p_instance, Expression:
Callable::CallError ce;
Variant::call_utility_function(bifunc->func, &r_ret, (const Variant **)argp.ptr(), argp.size(), ce);
if (ce.error != Callable::CallError::CALL_OK) {
- r_error_str = "Builtin Call Failed. " + Variant::get_call_error_text(bifunc->func, (const Variant **)argp.ptr(), argp.size(), ce);
+ r_error_str = "Builtin call failed: " + Variant::get_call_error_text(bifunc->func, (const Variant **)argp.ptr(), argp.size(), ce);
return true;
}
diff --git a/core/math/math_defs.h b/core/math/math_defs.h
index b8b82f2ff4..759667e2d5 100644
--- a/core/math/math_defs.h
+++ b/core/math/math_defs.h
@@ -116,6 +116,15 @@ enum Corner {
CORNER_BOTTOM_LEFT
};
+enum class EulerOrder {
+ XYZ,
+ XZY,
+ YXZ,
+ YZX,
+ ZXY,
+ ZYX
+};
+
/**
* The "Real" type is an abstract type used for real numbers, such as 1.5,
* in contrast to integer numbers. Precision can be controlled with the
diff --git a/core/math/quaternion.cpp b/core/math/quaternion.cpp
index 6a5f29f3d8..942a0b766e 100644
--- a/core/math/quaternion.cpp
+++ b/core/math/quaternion.cpp
@@ -38,25 +38,11 @@ real_t Quaternion::angle_to(const Quaternion &p_to) const {
return Math::acos(CLAMP(d * d * 2 - 1, -1, 1));
}
-// get_euler_xyz returns a vector containing the Euler angles in the format
-// (ax,ay,az), where ax is the angle of rotation around x axis,
-// and similar for other axes.
-// This implementation uses XYZ convention (Z is the first rotation).
-Vector3 Quaternion::get_euler_xyz() const {
- Basis m(*this);
- return m.get_euler(Basis::EULER_ORDER_XYZ);
-}
-
-// get_euler_yxz returns a vector containing the Euler angles in the format
-// (ax,ay,az), where ax is the angle of rotation around x axis,
-// and similar for other axes.
-// This implementation uses YXZ convention (Z is the first rotation).
-Vector3 Quaternion::get_euler_yxz() const {
+Vector3 Quaternion::get_euler(EulerOrder p_order) const {
#ifdef MATH_CHECKS
ERR_FAIL_COND_V_MSG(!is_normalized(), Vector3(0, 0, 0), "The quaternion must be normalized.");
#endif
- Basis m(*this);
- return m.get_euler(Basis::EULER_ORDER_YXZ);
+ return Basis(*this).get_euler(p_order);
}
void Quaternion::operator*=(const Quaternion &p_q) {
@@ -330,7 +316,7 @@ Quaternion::Quaternion(const Vector3 &p_axis, real_t p_angle) {
// (ax, ay, az), where ax is the angle of rotation around x axis,
// and similar for other axes.
// This implementation uses YXZ convention (Z is the first rotation).
-Quaternion::Quaternion(const Vector3 &p_euler) {
+Quaternion Quaternion::from_euler(const Vector3 &p_euler) {
real_t half_a1 = p_euler.y * 0.5f;
real_t half_a2 = p_euler.x * 0.5f;
real_t half_a3 = p_euler.z * 0.5f;
@@ -346,8 +332,9 @@ Quaternion::Quaternion(const Vector3 &p_euler) {
real_t cos_a3 = Math::cos(half_a3);
real_t sin_a3 = Math::sin(half_a3);
- x = sin_a1 * cos_a2 * sin_a3 + cos_a1 * sin_a2 * cos_a3;
- y = sin_a1 * cos_a2 * cos_a3 - cos_a1 * sin_a2 * sin_a3;
- z = -sin_a1 * sin_a2 * cos_a3 + cos_a1 * cos_a2 * sin_a3;
- w = sin_a1 * sin_a2 * sin_a3 + cos_a1 * cos_a2 * cos_a3;
+ return Quaternion(
+ sin_a1 * cos_a2 * sin_a3 + cos_a1 * sin_a2 * cos_a3,
+ sin_a1 * cos_a2 * cos_a3 - cos_a1 * sin_a2 * sin_a3,
+ -sin_a1 * sin_a2 * cos_a3 + cos_a1 * cos_a2 * sin_a3,
+ sin_a1 * sin_a2 * sin_a3 + cos_a1 * cos_a2 * cos_a3);
}
diff --git a/core/math/quaternion.h b/core/math/quaternion.h
index 7aa400aa8c..c5af2121d9 100644
--- a/core/math/quaternion.h
+++ b/core/math/quaternion.h
@@ -66,9 +66,8 @@ struct _NO_DISCARD_ Quaternion {
_FORCE_INLINE_ real_t dot(const Quaternion &p_q) const;
real_t angle_to(const Quaternion &p_to) const;
- Vector3 get_euler_xyz() const;
- Vector3 get_euler_yxz() const;
- Vector3 get_euler() const { return get_euler_yxz(); };
+ Vector3 get_euler(EulerOrder p_order = EulerOrder::YXZ) const;
+ static Quaternion from_euler(const Vector3 &p_euler);
Quaternion slerp(const Quaternion &p_to, const real_t &p_weight) const;
Quaternion slerpni(const Quaternion &p_to, const real_t &p_weight) const;
@@ -128,8 +127,6 @@ struct _NO_DISCARD_ Quaternion {
Quaternion(const Vector3 &p_axis, real_t p_angle);
- Quaternion(const Vector3 &p_euler);
-
Quaternion(const Quaternion &p_q) :
x(p_q.x),
y(p_q.y),
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-22 06:28:28 +0000