diff options
Diffstat (limited to 'core/math')
36 files changed, 460 insertions, 197 deletions
diff --git a/core/math/a_star.cpp b/core/math/a_star.cpp index 4498efeb41..6908d7831d 100644 --- a/core/math/a_star.cpp +++ b/core/math/a_star.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #include "a_star.h" #include "geometry.h" #include "scene/scene_string_names.h" @@ -459,7 +460,7 @@ void AStar::_bind_methods() { ClassDB::bind_method(D_METHOD("has_point", "id"), &AStar::has_point); ClassDB::bind_method(D_METHOD("get_points"), &AStar::get_points); - ClassDB::bind_method(D_METHOD("get_point_connections"), &AStar::get_point_connections); + ClassDB::bind_method(D_METHOD("get_point_connections", "id"), &AStar::get_point_connections); ClassDB::bind_method(D_METHOD("connect_points", "id", "to_id", "bidirectional"), &AStar::connect_points, DEFVAL(true)); ClassDB::bind_method(D_METHOD("disconnect_points", "id", "to_id"), &AStar::disconnect_points); diff --git a/core/math/a_star.h b/core/math/a_star.h index 1f13f4fae8..f89e17c7bb 100644 --- a/core/math/a_star.h +++ b/core/math/a_star.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #ifndef ASTAR_H #define ASTAR_H diff --git a/core/math/aabb.cpp b/core/math/aabb.cpp index 737a42b337..cff19f990c 100644 --- a/core/math/aabb.cpp +++ b/core/math/aabb.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #include "aabb.h" #include "print_string.h" diff --git a/core/math/aabb.h b/core/math/aabb.h index c5ba79e172..39b8f403e7 100644 --- a/core/math/aabb.h +++ b/core/math/aabb.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #ifndef AABB_H #define AABB_H diff --git a/core/math/audio_frame.cpp b/core/math/audio_frame.cpp index 555d3536df..eff817bbaa 100644 --- a/core/math/audio_frame.cpp +++ b/core/math/audio_frame.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,4 +27,5 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #include "audio_frame.h" diff --git a/core/math/audio_frame.h b/core/math/audio_frame.h index cfc7331767..67ba025e1c 100644 --- a/core/math/audio_frame.h +++ b/core/math/audio_frame.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #ifndef AUDIOFRAME_H #define AUDIOFRAME_H diff --git a/core/math/bsp_tree.cpp b/core/math/bsp_tree.cpp index ecda777583..b1424e1d78 100644 --- a/core/math/bsp_tree.cpp +++ b/core/math/bsp_tree.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #include "bsp_tree.h" #include "error_macros.h" #include "print_string.h" diff --git a/core/math/bsp_tree.h b/core/math/bsp_tree.h index f64a13ce39..fb16818ae7 100644 --- a/core/math/bsp_tree.h +++ b/core/math/bsp_tree.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #ifndef BSP_TREE_H #define BSP_TREE_H diff --git a/core/math/camera_matrix.cpp b/core/math/camera_matrix.cpp index 42d2d0373a..1ab9b3532e 100644 --- a/core/math/camera_matrix.cpp +++ b/core/math/camera_matrix.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #include "camera_matrix.h" #include "math_funcs.h" #include "print_string.h" diff --git a/core/math/camera_matrix.h b/core/math/camera_matrix.h index 15d6b8128e..226b4d572b 100644 --- a/core/math/camera_matrix.h +++ b/core/math/camera_matrix.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #ifndef CAMERA_MATRIX_H #define CAMERA_MATRIX_H diff --git a/core/math/face3.cpp b/core/math/face3.cpp index 7e586a1fd2..801f2a3b4d 100644 --- a/core/math/face3.cpp +++ b/core/math/face3.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #include "face3.h" #include "geometry.h" diff --git a/core/math/face3.h b/core/math/face3.h index 9a1f6b2c2e..faed0fa8d4 100644 --- a/core/math/face3.h +++ b/core/math/face3.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #ifndef FACE3_H #define FACE3_H diff --git a/core/math/geometry.cpp b/core/math/geometry.cpp index 39bd34f03c..24f077a4ca 100644 --- a/core/math/geometry.cpp +++ b/core/math/geometry.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,9 +27,21 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #include "geometry.h" #include "print_string.h" +bool Geometry::is_point_in_polygon(const Vector2 &p_point, const Vector<Vector2> &p_polygon) { + + Vector<int> indices = Geometry::triangulate_polygon(p_polygon); + for (int j = 0; j + 3 <= indices.size(); j += 3) { + int i1 = indices[j], i2 = indices[j + 1], i3 = indices[j + 2]; + if (Geometry::is_point_in_triangle(p_point, p_polygon[i1], p_polygon[i2], p_polygon[i3])) + return true; + } + return false; +} + void Geometry::MeshData::optimize_vertices() { Map<int, int> vtx_remap; diff --git a/core/math/geometry.h b/core/math/geometry.h index cd069bd7a3..be998aef0b 100644 --- a/core/math/geometry.h +++ b/core/math/geometry.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #ifndef GEOMETRY_H #define GEOMETRY_H @@ -501,17 +502,19 @@ public: } static bool is_point_in_triangle(const Vector2 &s, const Vector2 &a, const Vector2 &b, const Vector2 &c) { - int as_x = s.x - a.x; - int as_y = s.y - a.y; - - bool s_ab = (b.x - a.x) * as_y - (b.y - a.y) * as_x > 0; + Vector2 an = a - s; + Vector2 bn = b - s; + Vector2 cn = c - s; - if (((c.x - a.x) * as_y - (c.y - a.y) * as_x > 0) == s_ab) return false; + bool orientation = an.cross(bn) > 0; - if (((c.x - b.x) * (s.y - b.y) - (c.y - b.y) * (s.x - b.x) > 0) != s_ab) return false; + if ((bn.cross(cn) > 0) != orientation) return false; - return true; + return (cn.cross(an) > 0) == orientation; } + + static bool is_point_in_polygon(const Vector2 &p_point, const Vector<Vector2> &p_polygon); + static Vector2 get_closest_point_to_segment_uncapped_2d(const Vector2 &p_point, const Vector2 *p_segment) { Vector2 p = p_point - p_segment[0]; @@ -526,6 +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 11003c1cd5..a053ffbd93 100644 --- a/core/math/math_2d.cpp +++ b/core/math/math_2d.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #include "math_2d.h" real_t Vector2::angle() const { @@ -97,77 +98,19 @@ real_t Vector2::cross(const Vector2 &p_other) const { return x * p_other.y - y * p_other.x; } -Vector2 Vector2::cross(real_t p_other) const { - - return Vector2(p_other * y, -p_other * x); -} - -Vector2 Vector2::operator+(const Vector2 &p_v) const { - - return Vector2(x + p_v.x, y + p_v.y); -} -void Vector2::operator+=(const Vector2 &p_v) { - - x += p_v.x; - y += p_v.y; -} -Vector2 Vector2::operator-(const Vector2 &p_v) const { - - return Vector2(x - p_v.x, y - p_v.y); -} -void Vector2::operator-=(const Vector2 &p_v) { - - x -= p_v.x; - y -= p_v.y; -} - -Vector2 Vector2::operator*(const Vector2 &p_v1) const { - - return Vector2(x * p_v1.x, y * p_v1.y); -}; - -Vector2 Vector2::operator*(const real_t &rvalue) const { - - return Vector2(x * rvalue, y * rvalue); -}; -void Vector2::operator*=(const real_t &rvalue) { - - x *= rvalue; - y *= rvalue; -}; - -Vector2 Vector2::operator/(const Vector2 &p_v1) const { - - return Vector2(x / p_v1.x, y / p_v1.y); -}; - -Vector2 Vector2::operator/(const real_t &rvalue) const { - - return Vector2(x / rvalue, y / rvalue); -}; - -void Vector2::operator/=(const real_t &rvalue) { - - x /= rvalue; - y /= rvalue; -}; - -Vector2 Vector2::operator-() const { +Vector2 Vector2::floor() const { - return Vector2(-x, -y); + return Vector2(Math::floor(x), Math::floor(y)); } -bool Vector2::operator==(const Vector2 &p_vec2) const { +Vector2 Vector2::ceil() const { - return x == p_vec2.x && y == p_vec2.y; + return Vector2(Math::ceil(x), Math::ceil(y)); } -bool Vector2::operator!=(const Vector2 &p_vec2) const { - return x != p_vec2.x || y != p_vec2.y; -} -Vector2 Vector2::floor() const { +Vector2 Vector2::round() const { - return Vector2(Math::floor(x), Math::floor(y)); + return Vector2(Math::round(x), Math::round(y)); } Vector2 Vector2::rotated(real_t p_by) const { diff --git a/core/math/math_2d.h b/core/math/math_2d.h index 60351445c0..25c39e5d7a 100644 --- a/core/math/math_2d.h +++ b/core/math/math_2d.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #ifndef MATH_2D_H #define MATH_2D_H @@ -103,7 +104,6 @@ struct Vector2 { real_t dot(const Vector2 &p_other) const; real_t cross(const Vector2 &p_other) const; - Vector2 cross(real_t p_other) const; Vector2 project(const Vector2 &p_vec) const; Vector2 plane_project(real_t p_d, const Vector2 &p_vec) const; @@ -112,6 +112,7 @@ struct Vector2 { _FORCE_INLINE_ static Vector2 linear_interpolate(const Vector2 &p_a, const Vector2 &p_b, real_t p_t); _FORCE_INLINE_ Vector2 linear_interpolate(const Vector2 &p_b, real_t p_t) const; + _FORCE_INLINE_ Vector2 slerp(const Vector2 &p_b, real_t p_t) const; Vector2 cubic_interpolate(const Vector2 &p_b, const Vector2 &p_pre_a, const Vector2 &p_post_b, real_t p_t) const; Vector2 slide(const Vector2 &p_normal) const; @@ -162,6 +163,8 @@ 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; } @@ -187,6 +190,70 @@ _FORCE_INLINE_ Vector2 operator*(real_t p_scalar, const Vector2 &p_vec) { return p_vec * p_scalar; } +_FORCE_INLINE_ Vector2 Vector2::operator+(const Vector2 &p_v) const { + + return Vector2(x + p_v.x, y + p_v.y); +} +_FORCE_INLINE_ void Vector2::operator+=(const Vector2 &p_v) { + + x += p_v.x; + y += p_v.y; +} +_FORCE_INLINE_ Vector2 Vector2::operator-(const Vector2 &p_v) const { + + return Vector2(x - p_v.x, y - p_v.y); +} +_FORCE_INLINE_ void Vector2::operator-=(const Vector2 &p_v) { + + x -= p_v.x; + y -= p_v.y; +} + +_FORCE_INLINE_ Vector2 Vector2::operator*(const Vector2 &p_v1) const { + + return Vector2(x * p_v1.x, y * p_v1.y); +}; + +_FORCE_INLINE_ Vector2 Vector2::operator*(const real_t &rvalue) const { + + return Vector2(x * rvalue, y * rvalue); +}; +_FORCE_INLINE_ void Vector2::operator*=(const real_t &rvalue) { + + x *= rvalue; + y *= rvalue; +}; + +_FORCE_INLINE_ Vector2 Vector2::operator/(const Vector2 &p_v1) const { + + return Vector2(x / p_v1.x, y / p_v1.y); +}; + +_FORCE_INLINE_ Vector2 Vector2::operator/(const real_t &rvalue) const { + + return Vector2(x / rvalue, y / rvalue); +}; + +_FORCE_INLINE_ void Vector2::operator/=(const real_t &rvalue) { + + x /= rvalue; + y /= rvalue; +}; + +_FORCE_INLINE_ Vector2 Vector2::operator-() const { + + return Vector2(-x, -y); +} + +_FORCE_INLINE_ bool Vector2::operator==(const Vector2 &p_vec2) const { + + return x == p_vec2.x && y == p_vec2.y; +} +_FORCE_INLINE_ bool Vector2::operator!=(const Vector2 &p_vec2) const { + + return x != p_vec2.x || y != p_vec2.y; +} + Vector2 Vector2::linear_interpolate(const Vector2 &p_b, real_t p_t) const { Vector2 res = *this; @@ -197,6 +264,14 @@ Vector2 Vector2::linear_interpolate(const Vector2 &p_b, real_t p_t) const { return res; } +Vector2 Vector2::slerp(const Vector2 &p_b, real_t p_t) const { +#ifdef MATH_CHECKS + ERR_FAIL_COND_V(is_normalized() == false, Vector2()); +#endif + real_t theta = angle_to(p_b); + return rotated(theta * p_t); +} + Vector2 Vector2::linear_interpolate(const Vector2 &p_a, const Vector2 &p_b, real_t p_t) { Vector2 res = p_a; @@ -239,22 +314,31 @@ struct Rect2 { inline real_t distance_to(const Vector2 &p_point) const { - real_t dist = 1e20; + real_t dist = 0.0; + bool inside = true; if (p_point.x < position.x) { - dist = MIN(dist, position.x - p_point.x); + real_t d = position.x - p_point.x; + dist = inside ? d : MIN(dist, d); + inside = false; } if (p_point.y < position.y) { - dist = MIN(dist, position.y - p_point.y); + real_t d = position.y - p_point.y; + dist = inside ? d : MIN(dist, d); + inside = false; } if (p_point.x >= (position.x + size.x)) { - dist = MIN(p_point.x - (position.x + size.x), dist); + real_t d = p_point.x - (position.x + size.x); + dist = inside ? d : MIN(dist, d); + inside = false; } if (p_point.y >= (position.y + size.y)) { - dist = MIN(p_point.y - (position.y + size.y), dist); + real_t d = p_point.y - (position.y + size.y); + dist = inside ? d : MIN(dist, d); + inside = false; } - if (dist == 1e20) + if (inside) return 0; else return dist; @@ -336,9 +420,10 @@ struct Rect2 { g.size.height += p_by * 2; return g; } + inline Rect2 grow_margin(Margin p_margin, real_t p_amount) const { Rect2 g = *this; - g.grow_individual((MARGIN_LEFT == p_margin) ? p_amount : 0, + g = g.grow_individual((MARGIN_LEFT == p_margin) ? p_amount : 0, (MARGIN_TOP == p_margin) ? p_amount : 0, (MARGIN_RIGHT == p_margin) ? p_amount : 0, (MARGIN_BOTTOM == p_margin) ? p_amount : 0); diff --git a/core/math/math_defs.h b/core/math/math_defs.h index 904cbc1abc..d3484d8d02 100644 --- a/core/math/math_defs.h +++ b/core/math/math_defs.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #ifndef MATH_DEFS_H #define MATH_DEFS_H diff --git a/core/math/math_funcs.cpp b/core/math/math_funcs.cpp index 64e01e5841..5c8512d8bd 100644 --- a/core/math/math_funcs.cpp +++ b/core/math/math_funcs.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #include "math_funcs.h" #include "core/os/os.h" @@ -176,18 +177,3 @@ float Math::random(float from, float to) { float ret = (float)r / (float)RANDOM_MAX; return (ret) * (to - from) + from; } - -int Math::wrapi(int value, int min, int max) { - --max; - int rng = max - min + 1; - value = ((value - min) % rng); - if (value < 0) - return max + 1 + value; - else - return min + value; -} - -float Math::wrapf(float value, float min, float max) { - float rng = max - min; - return min + (value - min) - (rng * floor((value - min) / rng)); -} diff --git a/core/math/math_funcs.h b/core/math/math_funcs.h index 80e5805451..20001bb9a6 100644 --- a/core/math/math_funcs.h +++ b/core/math/math_funcs.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #ifndef MATH_FUNCS_H #define MATH_FUNCS_H @@ -208,8 +209,18 @@ public: static _ALWAYS_INLINE_ double round(double p_val) { return (p_val >= 0) ? Math::floor(p_val + 0.5) : -Math::floor(-p_val + 0.5); } static _ALWAYS_INLINE_ float round(float p_val) { return (p_val >= 0) ? Math::floor(p_val + 0.5) : -Math::floor(-p_val + 0.5); } - static int wrapi(int value, int min, int max); - static float wrapf(float value, float min, float max); + static _ALWAYS_INLINE_ int wrapi(int value, int min, int max) { + int rng = max - min; + return min + ((((value - min) % rng) + rng) % rng); + } + static _ALWAYS_INLINE_ double wrapf(double value, double min, double max) { + double rng = max - min; + return value - (rng * Math::floor((value - min) / rng)); + } + static _ALWAYS_INLINE_ float wrapf(float value, float min, float max) { + float rng = max - min; + return value - (rng * Math::floor((value - min) / rng)); + } // double only, as these functions are mainly used by the editor and not performance-critical, static double ease(double p_x, double p_c); diff --git a/core/math/matrix3.cpp b/core/math/matrix3.cpp index ab3bca79ae..8ee8ccb457 100644 --- a/core/math/matrix3.cpp +++ b/core/math/matrix3.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #include "matrix3.h" #include "math_funcs.h" #include "os/copymem.h" @@ -228,12 +229,24 @@ void Basis::scale(const Vector3 &p_scale) { } Basis Basis::scaled(const Vector3 &p_scale) const { - Basis m = *this; m.scale(p_scale); return m; } +void Basis::scale_local(const Vector3 &p_scale) { + // performs a scaling in object-local coordinate system: + // M -> (M.S.Minv).M = M.S. + *this = scaled_local(p_scale); +} + +Basis Basis::scaled_local(const Vector3 &p_scale) const { + Basis b; + b.set_scale(p_scale); + + return (*this) * b; +} + void Basis::set_scale(const Vector3 &p_scale) { set_axis(0, get_axis(0).normalized() * p_scale.x); @@ -241,7 +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(), @@ -249,7 +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). @@ -311,6 +330,16 @@ void Basis::rotate(const Vector3 &p_axis, real_t p_phi) { *this = rotated(p_axis, p_phi); } +void Basis::rotate_local(const Vector3 &p_axis, real_t p_phi) { + // performs a rotation in object-local coordinate system: + // M -> (M.R.Minv).M = M.R. + *this = rotated_local(p_axis, p_phi); +} +Basis Basis::rotated_local(const Vector3 &p_axis, real_t p_phi) const { + + return (*this) * Basis(p_axis, p_phi); +} + Basis Basis::rotated(const Vector3 &p_euler) const { return Basis(p_euler) * (*this); } @@ -319,6 +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, @@ -348,6 +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). @@ -744,3 +797,45 @@ 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; +} + +Basis Basis::slerp(const Basis &target, const real_t &t) const { + // TODO: implement this directly without using quaternions to make it more efficient +#ifdef MATH_CHECKS + ERR_FAIL_COND_V(is_rotation() == false, Basis()); + ERR_FAIL_COND_V(target.is_rotation() == false, Basis()); +#endif + + Quat from(*this); + Quat to(target); + + return Basis(from.slerp(to, t)); +} diff --git a/core/math/matrix3.h b/core/math/matrix3.h index 9a33b8203d..63d4f5d79d 100644 --- a/core/math/matrix3.h +++ b/core/math/matrix3.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -75,11 +75,18 @@ public: 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(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; @@ -100,9 +107,17 @@ public: void scale(const Vector3 &p_scale); Basis scaled(const Vector3 &p_scale) const; + void scale_local(const Vector3 &p_scale); + Basis scaled_local(const Vector3 &p_scale) const; + 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 { @@ -134,10 +149,14 @@ 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; + Basis slerp(const Basis &target, const real_t &t) const; + operator String() const; /* create / set */ @@ -213,6 +232,8 @@ 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/octree.h b/core/math/octree.h index 6acd4c5f75..4e3d6257f0 100644 --- a/core/math/octree.h +++ b/core/math/octree.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #ifndef OCTREE_H #define OCTREE_H @@ -611,7 +612,7 @@ bool Octree<T, use_pairs, AL>::_remove_element_from_octant(Element *p_element, O bool unpaired = false; if (use_pairs && p_octant->last_pass != pass) { - // check wether we should unpair stuff + // check whether we should unpair stuff // always test pairable typename List<Element *, AL>::Element *E = p_octant->pairable_elements.front(); while (E) { diff --git a/core/math/plane.cpp b/core/math/plane.cpp index 08395ed07b..78bb1771a4 100644 --- a/core/math/plane.cpp +++ b/core/math/plane.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #include "plane.h" #include "math_funcs.h" diff --git a/core/math/plane.h b/core/math/plane.h index 1d02b5d523..e567422dd0 100644 --- a/core/math/plane.h +++ b/core/math/plane.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #ifndef PLANE_H #define PLANE_H diff --git a/core/math/quat.cpp b/core/math/quat.cpp index cebc5b9522..b938fc3cfd 100644 --- a/core/math/quat.cpp +++ b/core/math/quat.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #include "quat.h" #include "matrix3.h" #include "print_string.h" @@ -88,7 +89,7 @@ void Quat::set_euler_yxz(const Vector3 &p_euler) { set(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 * 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); } @@ -97,6 +98,9 @@ void Quat::set_euler_yxz(const Vector3 &p_euler) { // and similar for other axes. // This implementation uses YXZ convention (Z is the first rotation). Vector3 Quat::get_euler_yxz() const { +#ifdef MATH_CHECKS + ERR_FAIL_COND_V(is_normalized() == false, Vector3(0, 0, 0)); +#endif Basis m(*this); return m.get_euler_yxz(); } @@ -134,11 +138,17 @@ bool Quat::is_normalized() const { } Quat Quat::inverse() const { +#ifdef MATH_CHECKS + ERR_FAIL_COND_V(is_normalized() == false, Quat(0, 0, 0, 0)); +#endif return Quat(-x, -y, -z, w); } Quat Quat::slerp(const Quat &q, const real_t &t) const { - +#ifdef MATH_CHECKS + ERR_FAIL_COND_V(is_normalized() == false, Quat(0, 0, 0, 0)); + ERR_FAIL_COND_V(q.is_normalized() == false, Quat(0, 0, 0, 0)); +#endif Quat to1; real_t omega, cosom, sinom, scale0, scale1; @@ -214,7 +224,10 @@ Quat::operator String() const { return String::num(x) + ", " + String::num(y) + ", " + String::num(z) + ", " + String::num(w); } -Quat::Quat(const Vector3 &axis, const real_t &angle) { +void Quat::set_axis_angle(const Vector3 &axis, const real_t &angle) { +#ifdef MATH_CHECKS + ERR_FAIL_COND(axis.is_normalized() == false); +#endif real_t d = axis.length(); if (d == 0) set(0, 0, 0, 0); diff --git a/core/math/quat.h b/core/math/quat.h index 9668f8c7a3..3e1344a913 100644 --- a/core/math/quat.h +++ b/core/math/quat.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -64,11 +64,13 @@ public: Quat slerpni(const Quat &q, const real_t &t) const; Quat cubic_slerp(const Quat &q, const Quat &prep, const Quat &postq, const real_t &t) const; + void set_axis_angle(const Vector3 &axis, const real_t &angle); _FORCE_INLINE_ void get_axis_angle(Vector3 &r_axis, real_t &r_angle) const { r_angle = 2 * Math::acos(w); - r_axis.x = x / Math::sqrt(1 - w * w); - r_axis.y = y / Math::sqrt(1 - w * w); - r_axis.z = z / Math::sqrt(1 - w * w); + real_t r = ((real_t)1) / Math::sqrt(1 - w * w); + r_axis.x = x * r; + r_axis.y = y * r; + r_axis.z = z * r; } void operator*=(const Quat &q); @@ -83,9 +85,9 @@ public: _FORCE_INLINE_ Vector3 xform(const Vector3 &v) const { - Quat q = *this * v; - q *= this->inverse(); - return Vector3(q.x, q.y, q.z); + Vector3 u(x, y, z); + Vector3 uv = u.cross(v); + return v + ((uv * w) + u.cross(uv)) * ((real_t)2); } _FORCE_INLINE_ void operator+=(const Quat &q); @@ -115,7 +117,15 @@ public: z = p_z; w = p_w; } - Quat(const Vector3 &axis, const real_t &angle); + Quat(const Vector3 &axis, const real_t &angle) { set_axis_angle(axis, angle); } + + Quat(const Vector3 &euler) { set_euler(euler); } + Quat(const Quat &q) { + x = q.x; + y = q.y; + z = q.z; + w = q.w; + } Quat(const Vector3 &v0, const Vector3 &v1) // shortest arc { diff --git a/core/math/quick_hull.cpp b/core/math/quick_hull.cpp index 946d9f6b79..fc90417413 100644 --- a/core/math/quick_hull.cpp +++ b/core/math/quick_hull.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #include "quick_hull.h" #include "map.h" @@ -73,7 +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/quick_hull.h b/core/math/quick_hull.h index f014d0decc..eef4a9adff 100644 --- a/core/math/quick_hull.h +++ b/core/math/quick_hull.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #ifndef QUICK_HULL_H #define QUICK_HULL_H diff --git a/core/math/transform.cpp b/core/math/transform.cpp index fb4ca16565..7cd186ca60 100644 --- a/core/math/transform.cpp +++ b/core/math/transform.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #include "transform.h" #include "math_funcs.h" #include "os/copymem.h" @@ -118,11 +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/transform.h b/core/math/transform.h index 4d91869121..c06eaec604 100644 --- a/core/math/transform.h +++ b/core/math/transform.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #ifndef TRANSFORM_H #define TRANSFORM_H diff --git a/core/math/triangle_mesh.cpp b/core/math/triangle_mesh.cpp index 5f57c7c26a..edd4ad3441 100644 --- a/core/math/triangle_mesh.cpp +++ b/core/math/triangle_mesh.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #include "triangle_mesh.h" #include "sort.h" diff --git a/core/math/triangle_mesh.h b/core/math/triangle_mesh.h index 4bd9fecf37..9f145f2afb 100644 --- a/core/math/triangle_mesh.h +++ b/core/math/triangle_mesh.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #ifndef TRIANGLE_MESH_H #define TRIANGLE_MESH_H diff --git a/core/math/triangulate.cpp b/core/math/triangulate.cpp index b20f2e06d5..563ba7268f 100644 --- a/core/math/triangulate.cpp +++ b/core/math/triangulate.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #include "triangulate.h" real_t Triangulate::get_area(const Vector<Vector2> &contour) { @@ -50,7 +51,8 @@ real_t Triangulate::get_area(const Vector<Vector2> &contour) { bool Triangulate::is_inside_triangle(real_t Ax, real_t Ay, real_t Bx, real_t By, real_t Cx, real_t Cy, - real_t Px, real_t Py) + real_t Px, real_t Py, + bool include_edges) { real_t ax, ay, bx, by, cx, cy, apx, apy, bpx, bpy, cpx, cpy; @@ -73,10 +75,14 @@ bool Triangulate::is_inside_triangle(real_t Ax, real_t Ay, cCROSSap = cx * apy - cy * apx; bCROSScp = bx * cpy - by * cpx; - return ((aCROSSbp >= 0.0) && (bCROSScp >= 0.0) && (cCROSSap >= 0.0)); + if (include_edges) { + return ((aCROSSbp > 0.0) && (bCROSScp > 0.0) && (cCROSSap > 0.0)); + } else { + return ((aCROSSbp >= 0.0) && (bCROSScp >= 0.0) && (cCROSSap >= 0.0)); + } }; -bool Triangulate::snip(const Vector<Vector2> &p_contour, int u, int v, int w, int n, const Vector<int> &V) { +bool Triangulate::snip(const Vector<Vector2> &p_contour, int u, int v, int w, int n, const Vector<int> &V, bool relaxed) { int p; real_t Ax, Ay, Bx, By, Cx, Cy, Px, Py; const Vector2 *contour = &p_contour[0]; @@ -90,13 +96,20 @@ bool Triangulate::snip(const Vector<Vector2> &p_contour, int u, int v, int w, in Cx = contour[V[w]].x; Cy = contour[V[w]].y; - if (CMP_EPSILON > (((Bx - Ax) * (Cy - Ay)) - ((By - Ay) * (Cx - Ax)))) return false; + // It can happen that the triangulation ends up with three aligned vertices to deal with. + // In this scenario, making the check below strict may reject the possibility of + // forming a last triangle with these aligned vertices, preventing the triangulatiom + // from completing. + // To avoid that we allow zero-area triangles if all else failed. + float threshold = relaxed ? -CMP_EPSILON : CMP_EPSILON; + + if (threshold > (((Bx - Ax) * (Cy - Ay)) - ((By - Ay) * (Cx - Ax)))) return false; for (p = 0; p < n; p++) { if ((p == u) || (p == v) || (p == w)) continue; Px = contour[V[p]].x; Py = contour[V[p]].y; - if (is_inside_triangle(Ax, Ay, Bx, By, Cx, Cy, Px, Py)) return false; + if (is_inside_triangle(Ax, Ay, Bx, By, Cx, Cy, Px, Py, relaxed)) return false; } return true; @@ -120,6 +133,8 @@ bool Triangulate::triangulate(const Vector<Vector2> &contour, Vector<int> &resul for (int v = 0; v < n; v++) V[v] = (n - 1) - v; + bool relaxed = false; + int nv = n; /* remove nv-2 Vertices, creating 1 triangle every time */ @@ -128,8 +143,20 @@ bool Triangulate::triangulate(const Vector<Vector2> &contour, Vector<int> &resul for (int v = nv - 1; nv > 2;) { /* if we loop, it is probably a non-simple polygon */ if (0 >= (count--)) { - //** Triangulate: ERROR - probable bad polygon! - return false; + if (relaxed) { + //** Triangulate: ERROR - probable bad polygon! + return false; + } else { + // There may be aligned vertices that the strict + // checks prevent from triangulating. In this situation + // we are better off adding flat triangles than + // failing, so we relax the checks and try one last + // round. + // Only relaxing the constraints as a last resort avoids + // degenerate triangles when they aren't necessary. + count = 2 * nv; + relaxed = true; + } } /* three consecutive vertices in current polygon, <u,v,w> */ @@ -140,7 +167,7 @@ bool Triangulate::triangulate(const Vector<Vector2> &contour, Vector<int> &resul int w = v + 1; if (nv <= w) w = 0; /* next */ - if (snip(contour, u, v, w, nv, V)) { + if (snip(contour, u, v, w, nv, V, relaxed)) { int a, b, c, s, t; /* true names of the vertices */ diff --git a/core/math/triangulate.h b/core/math/triangulate.h index 21e148249e..b1a583d0c5 100644 --- a/core/math/triangulate.h +++ b/core/math/triangulate.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #ifndef TRIANGULATE_H #define TRIANGULATE_H @@ -50,10 +51,11 @@ public: static bool is_inside_triangle(real_t Ax, real_t Ay, real_t Bx, real_t By, real_t Cx, real_t Cy, - real_t Px, real_t Py); + real_t Px, real_t Py, + bool include_edges); private: - static bool snip(const Vector<Vector2> &p_contour, int u, int v, int w, int n, const Vector<int> &V); + static bool snip(const Vector<Vector2> &p_contour, int u, int v, int w, int n, const Vector<int> &V, bool relaxed); }; #endif diff --git a/core/math/vector3.cpp b/core/math/vector3.cpp index 144234f4d1..78d52d5cd1 100644 --- a/core/math/vector3.cpp +++ b/core/math/vector3.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #include "vector3.h" #include "matrix3.h" diff --git a/core/math/vector3.h b/core/math/vector3.h index 74c822fcd7..433adf09ee 100644 --- a/core/math/vector3.h +++ b/core/math/vector3.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -27,6 +27,7 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #ifndef VECTOR3_H #define VECTOR3_H @@ -90,6 +91,7 @@ struct Vector3 { /* Static Methods between 2 vector3s */ _FORCE_INLINE_ Vector3 linear_interpolate(const Vector3 &p_b, real_t p_t) const; + _FORCE_INLINE_ Vector3 slerp(const Vector3 &p_b, real_t p_t) const; Vector3 cubic_interpolate(const Vector3 &p_b, const Vector3 &p_pre_a, const Vector3 &p_post_b, real_t p_t) const; Vector3 cubic_interpolaten(const Vector3 &p_b, const Vector3 &p_pre_a, const Vector3 &p_post_b, real_t p_t) const; @@ -102,6 +104,7 @@ 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; @@ -203,6 +206,11 @@ 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( @@ -211,6 +219,15 @@ Vector3 Vector3::linear_interpolate(const Vector3 &p_b, real_t p_t) const { z + (p_t * (p_b.z - z))); } +Vector3 Vector3::slerp(const Vector3 &p_b, real_t p_t) const { +#ifdef MATH_CHECKS + ERR_FAIL_COND_V(is_normalized() == false, Vector3()); +#endif + + real_t theta = angle_to(p_b); + return rotated(cross(p_b), theta * p_t); +} + real_t Vector3::distance_to(const Vector3 &p_b) const { return (p_b - *this).length(); |