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-rw-r--r--core/math/a_star.cpp84
-rw-r--r--core/math/a_star.h4
-rw-r--r--core/math/aabb.cpp26
-rw-r--r--core/math/aabb.h40
-rw-r--r--core/math/audio_frame.h3
-rw-r--r--core/math/basis.cpp552
-rw-r--r--core/math/basis.h52
-rw-r--r--core/math/bvh.h4
-rw-r--r--core/math/bvh_cull.inc2
-rw-r--r--core/math/bvh_debug.inc27
-rw-r--r--core/math/bvh_logic.inc50
-rw-r--r--core/math/bvh_pair.inc2
-rw-r--r--core/math/bvh_split.inc18
-rw-r--r--core/math/camera_matrix.cpp22
-rw-r--r--core/math/color.cpp96
-rw-r--r--core/math/color.h4
-rw-r--r--core/math/convex_hull.cpp53
-rw-r--r--core/math/convex_hull.h2
-rw-r--r--core/math/delaunay_2d.h6
-rw-r--r--core/math/dynamic_bvh.h2
-rw-r--r--core/math/expression.cpp14
-rw-r--r--core/math/face3.cpp6
-rw-r--r--core/math/face3.h14
-rw-r--r--core/math/geometry_2d.h5
-rw-r--r--core/math/geometry_3d.cpp16
-rw-r--r--core/math/geometry_3d.h2
-rw-r--r--core/math/math_defs.h53
-rw-r--r--core/math/math_funcs.cpp4
-rw-r--r--core/math/math_funcs.h26
-rw-r--r--core/math/plane.cpp2
-rw-r--r--core/math/plane.h6
-rw-r--r--core/math/quaternion.cpp13
-rw-r--r--core/math/quaternion.h13
-rw-r--r--core/math/quick_hull.cpp24
-rw-r--r--core/math/rect2.cpp10
-rw-r--r--core/math/rect2.h98
-rw-r--r--core/math/static_raycaster.cpp40
-rw-r--r--core/math/static_raycaster.h111
-rw-r--r--core/math/transform_2d.cpp34
-rw-r--r--core/math/transform_2d.h29
-rw-r--r--core/math/transform_3d.cpp6
-rw-r--r--core/math/triangle_mesh.cpp8
-rw-r--r--core/math/triangle_mesh.h6
-rw-r--r--core/math/triangulate.cpp11
-rw-r--r--core/math/vector2.cpp17
-rw-r--r--core/math/vector2.h19
-rw-r--r--core/math/vector3.cpp23
-rw-r--r--core/math/vector3.h56
-rw-r--r--core/math/vector3i.cpp8
-rw-r--r--core/math/vector3i.h6
50 files changed, 993 insertions, 736 deletions
diff --git a/core/math/a_star.cpp b/core/math/a_star.cpp
index b380860522..bdceae4374 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;
@@ -210,7 +210,7 @@ bool AStar::has_point(int p_id) const {
return points.has(p_id);
}
-Array AStar::get_points() {
+Array AStar::get_point_ids() {
Array point_list;
for (OAHashMap<int, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) {
@@ -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;
@@ -239,7 +239,7 @@ bool AStar::are_points_connected(int p_id, int p_with_id, bool bidirectional) co
const Set<Segment>::Element *element = segments.find(s);
return element != nullptr &&
- (bidirectional || (element->get().direction & s.direction) == s.direction);
+ (bidirectional || (element->get().direction & s.direction) == s.direction);
}
void AStar::clear() {
@@ -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);
}
@@ -344,7 +344,7 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
}
sorter.pop_heap(0, open_list.size(), open_list.ptrw()); // Remove the current point from the open list
- open_list.remove(open_list.size() - 1);
+ open_list.remove_at(open_list.size() - 1);
p->closed_pass = pass; // Mark the point as closed
for (OAHashMap<int, Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
@@ -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;
}
@@ -539,7 +539,7 @@ void AStar::_bind_methods() {
ClassDB::bind_method(D_METHOD("remove_point", "id"), &AStar::remove_point);
ClassDB::bind_method(D_METHOD("has_point", "id"), &AStar::has_point);
ClassDB::bind_method(D_METHOD("get_point_connections", "id"), &AStar::get_point_connections);
- ClassDB::bind_method(D_METHOD("get_points"), &AStar::get_points);
+ ClassDB::bind_method(D_METHOD("get_point_ids"), &AStar::get_point_ids);
ClassDB::bind_method(D_METHOD("set_point_disabled", "id", "disabled"), &AStar::set_point_disabled, DEFVAL(true));
ClassDB::bind_method(D_METHOD("is_point_disabled", "id"), &AStar::is_point_disabled);
@@ -606,8 +606,8 @@ Vector<int> AStar2D::get_point_connections(int p_id) {
return astar.get_point_connections(p_id);
}
-Array AStar2D::get_points() {
- return astar.get_points();
+Array AStar2D::get_point_ids() {
+ return astar.get_point_ids();
}
void AStar2D::set_point_disabled(int p_id, bool p_disabled) {
@@ -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;
@@ -812,7 +812,7 @@ bool AStar2D::_solve(AStar::Point *begin_point, AStar::Point *end_point) {
}
sorter.pop_heap(0, open_list.size(), open_list.ptrw()); // Remove the current point from the open list
- open_list.remove(open_list.size() - 1);
+ open_list.remove_at(open_list.size() - 1);
p->closed_pass = astar.pass; // Mark the point as closed
for (OAHashMap<int, AStar::Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
@@ -859,7 +859,7 @@ void AStar2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("remove_point", "id"), &AStar2D::remove_point);
ClassDB::bind_method(D_METHOD("has_point", "id"), &AStar2D::has_point);
ClassDB::bind_method(D_METHOD("get_point_connections", "id"), &AStar2D::get_point_connections);
- ClassDB::bind_method(D_METHOD("get_points"), &AStar2D::get_points);
+ ClassDB::bind_method(D_METHOD("get_point_ids"), &AStar2D::get_point_ids);
ClassDB::bind_method(D_METHOD("set_point_disabled", "id", "disabled"), &AStar2D::set_point_disabled, DEFVAL(true));
ClassDB::bind_method(D_METHOD("is_point_disabled", "id"), &AStar2D::is_point_disabled);
diff --git a/core/math/a_star.h b/core/math/a_star.h
index 64fa32a325..ef6f22d228 100644
--- a/core/math/a_star.h
+++ b/core/math/a_star.h
@@ -138,7 +138,7 @@ public:
void remove_point(int p_id);
bool has_point(int p_id) const;
Vector<int> get_point_connections(int p_id);
- Array get_points();
+ Array get_point_ids();
void set_point_disabled(int p_id, bool p_disabled = true);
bool is_point_disabled(int p_id) const;
@@ -188,7 +188,7 @@ public:
void remove_point(int p_id);
bool has_point(int p_id) const;
Vector<int> get_point_connections(int p_id);
- Array get_points();
+ Array get_point_ids();
void set_point_disabled(int p_id, bool p_disabled = true);
bool is_point_disabled(int p_id) const;
diff --git a/core/math/aabb.cpp b/core/math/aabb.cpp
index 33aa65f15d..83726f46b5 100644
--- a/core/math/aabb.cpp
+++ b/core/math/aabb.cpp
@@ -33,7 +33,7 @@
#include "core/string/print_string.h"
#include "core/variant/variant.h"
-real_t AABB::get_area() const {
+real_t AABB::get_volume() const {
return size.x * size.y * size.z;
}
@@ -46,14 +46,19 @@ bool AABB::operator!=(const AABB &p_rval) const {
}
void AABB::merge_with(const AABB &p_aabb) {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0 || size.z < 0 || p_aabb.size.x < 0 || p_aabb.size.y < 0 || p_aabb.size.z < 0)) {
+ ERR_PRINT("AABB size is negative, this is not supported. Use AABB.abs() to get an AABB with a positive size.");
+ }
+#endif
Vector3 beg_1, beg_2;
Vector3 end_1, end_2;
Vector3 min, max;
beg_1 = position;
beg_2 = p_aabb.position;
- end_1 = Vector3(size.x, size.y, size.z) + beg_1;
- end_2 = Vector3(p_aabb.size.x, p_aabb.size.y, p_aabb.size.z) + beg_2;
+ end_1 = size + beg_1;
+ end_2 = p_aabb.size + beg_2;
min.x = (beg_1.x < beg_2.x) ? beg_1.x : beg_2.x;
min.y = (beg_1.y < beg_2.y) ? beg_1.y : beg_2.y;
@@ -72,6 +77,11 @@ bool AABB::is_equal_approx(const AABB &p_aabb) const {
}
AABB AABB::intersection(const AABB &p_aabb) const {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0 || size.z < 0 || p_aabb.size.x < 0 || p_aabb.size.y < 0 || p_aabb.size.z < 0)) {
+ ERR_PRINT("AABB size is negative, this is not supported. Use AABB.abs() to get an AABB with a positive size.");
+ }
+#endif
Vector3 src_min = position;
Vector3 src_max = position + size;
Vector3 dst_min = p_aabb.position;
@@ -104,6 +114,11 @@ AABB AABB::intersection(const AABB &p_aabb) const {
}
bool AABB::intersects_ray(const Vector3 &p_from, const Vector3 &p_dir, Vector3 *r_clip, Vector3 *r_normal) const {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0 || size.z < 0)) {
+ ERR_PRINT("AABB size is negative, this is not supported. Use AABB.abs() to get an AABB with a positive size.");
+ }
+#endif
Vector3 c1, c2;
Vector3 end = position + size;
real_t near = -1e20;
@@ -147,6 +162,11 @@ bool AABB::intersects_ray(const Vector3 &p_from, const Vector3 &p_dir, Vector3 *
}
bool AABB::intersects_segment(const Vector3 &p_from, const Vector3 &p_to, Vector3 *r_clip, Vector3 *r_normal) const {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0 || size.z < 0)) {
+ ERR_PRINT("AABB size is negative, this is not supported. Use AABB.abs() to get an AABB with a positive size.");
+ }
+#endif
real_t min = 0, max = 1;
int axis = 0;
real_t sign = 0;
diff --git a/core/math/aabb.h b/core/math/aabb.h
index e16246902a..81124002e2 100644
--- a/core/math/aabb.h
+++ b/core/math/aabb.h
@@ -46,8 +46,8 @@ public:
Vector3 position;
Vector3 size;
- real_t get_area() const; /// get area
- _FORCE_INLINE_ bool has_no_area() const {
+ real_t get_volume() const;
+ _FORCE_INLINE_ bool has_no_volume() const {
return (size.x <= 0 || size.y <= 0 || size.z <= 0);
}
@@ -118,6 +118,10 @@ public:
return position + size;
}
+ _FORCE_INLINE_ Vector3 get_center() const {
+ return position + (size * 0.5);
+ }
+
operator String() const;
_FORCE_INLINE_ AABB() {}
@@ -128,6 +132,11 @@ public:
};
inline bool AABB::intersects(const AABB &p_aabb) const {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0 || size.z < 0 || p_aabb.size.x < 0 || p_aabb.size.y < 0 || p_aabb.size.z < 0)) {
+ ERR_PRINT("AABB size is negative, this is not supported. Use AABB.abs() to get an AABB with a positive size.");
+ }
+#endif
if (position.x >= (p_aabb.position.x + p_aabb.size.x)) {
return false;
}
@@ -151,6 +160,11 @@ inline bool AABB::intersects(const AABB &p_aabb) const {
}
inline bool AABB::intersects_inclusive(const AABB &p_aabb) const {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0 || size.z < 0 || p_aabb.size.x < 0 || p_aabb.size.y < 0 || p_aabb.size.z < 0)) {
+ ERR_PRINT("AABB size is negative, this is not supported. Use AABB.abs() to get an AABB with a positive size.");
+ }
+#endif
if (position.x > (p_aabb.position.x + p_aabb.size.x)) {
return false;
}
@@ -174,6 +188,11 @@ inline bool AABB::intersects_inclusive(const AABB &p_aabb) const {
}
inline bool AABB::encloses(const AABB &p_aabb) const {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0 || size.z < 0 || p_aabb.size.x < 0 || p_aabb.size.y < 0 || p_aabb.size.z < 0)) {
+ ERR_PRINT("AABB size is negative, this is not supported. Use AABB.abs() to get an AABB with a positive size.");
+ }
+#endif
Vector3 src_min = position;
Vector3 src_max = position + size;
Vector3 dst_min = p_aabb.position;
@@ -196,7 +215,7 @@ Vector3 AABB::get_support(const Vector3 &p_normal) const {
(p_normal.x > 0) ? half_extents.x : -half_extents.x,
(p_normal.y > 0) ? half_extents.y : -half_extents.y,
(p_normal.z > 0) ? half_extents.z : -half_extents.z) +
- ofs;
+ ofs;
}
Vector3 AABB::get_endpoint(int p_point) const {
@@ -284,6 +303,11 @@ bool AABB::inside_convex_shape(const Plane *p_planes, int p_plane_count) const {
}
bool AABB::has_point(const Vector3 &p_point) const {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0 || size.z < 0)) {
+ ERR_PRINT("AABB size is negative, this is not supported. Use AABB.abs() to get an AABB with a positive size.");
+ }
+#endif
if (p_point.x < position.x) {
return false;
}
@@ -307,6 +331,11 @@ bool AABB::has_point(const Vector3 &p_point) const {
}
inline void AABB::expand_to(const Vector3 &p_vector) {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0 || size.z < 0)) {
+ ERR_PRINT("AABB size is negative, this is not supported. Use AABB.abs() to get an AABB with a positive size.");
+ }
+#endif
Vector3 begin = position;
Vector3 end = position + size;
@@ -373,6 +402,11 @@ inline real_t AABB::get_shortest_axis_size() const {
}
bool AABB::smits_intersect_ray(const Vector3 &p_from, const Vector3 &p_dir, real_t t0, real_t t1) const {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0 || size.z < 0)) {
+ ERR_PRINT("AABB size is negative, this is not supported. Use AABB.abs() to get an AABB with a positive size.");
+ }
+#endif
real_t divx = 1.0 / p_dir.x;
real_t divy = 1.0 / p_dir.y;
real_t divz = 1.0 / p_dir.z;
diff --git a/core/math/audio_frame.h b/core/math/audio_frame.h
index a5616b8d79..4a11b99fe8 100644
--- a/core/math/audio_frame.h
+++ b/core/math/audio_frame.h
@@ -124,10 +124,9 @@ struct AudioFrame {
r = p_frame.r;
}
- _ALWAYS_INLINE_ AudioFrame &operator=(const AudioFrame &p_frame) {
+ _ALWAYS_INLINE_ void operator=(const AudioFrame &p_frame) {
l = p_frame.l;
r = p_frame.r;
- return *this;
}
_ALWAYS_INLINE_ operator Vector2() const {
diff --git a/core/math/basis.cpp b/core/math/basis.cpp
index 5c42213e61..566300c716 100644
--- a/core/math/basis.cpp
+++ b/core/math/basis.cpp
@@ -58,8 +58,8 @@ void Basis::invert() {
cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1)
};
real_t det = elements[0][0] * co[0] +
- elements[0][1] * co[1] +
- elements[0][2] * co[2];
+ elements[0][1] * co[1] +
+ elements[0][2] * co[2];
#ifdef MATH_CHECKS
ERR_FAIL_COND(det == 0);
#endif
@@ -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 {
@@ -260,7 +261,7 @@ Vector3 Basis::get_scale_abs() const {
}
Vector3 Basis::get_scale_local() const {
- real_t det_sign = SGN(determinant());
+ real_t det_sign = SIGN(determinant());
return det_sign * Vector3(elements[0].length(), elements[1].length(), elements[2].length());
}
@@ -286,11 +287,8 @@ Vector3 Basis::get_scale() const {
// matrix elements.
//
// The rotation part of this decomposition is returned by get_rotation* functions.
- real_t det_sign = SGN(determinant());
- return det_sign * Vector3(
- Vector3(elements[0][0], elements[1][0], elements[2][0]).length(),
- Vector3(elements[0][1], elements[1][1], elements[2][1]).length(),
- Vector3(elements[0][2], elements[1][2], elements[2][2]).length());
+ real_t det_sign = SIGN(determinant());
+ return det_sign * get_scale_abs();
}
// Decomposes a Basis into a rotation-reflection matrix (an element of the group O(3)) and a positive scaling matrix as B = O.S.
@@ -353,7 +351,7 @@ void Basis::rotate(const Quaternion &p_quaternion) {
*this = rotated(p_quaternion);
}
-Vector3 Basis::get_rotation_euler() const {
+Vector3 Basis::get_euler_normalized(EulerOrder p_order) 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.
@@ -364,7 +362,7 @@ Vector3 Basis::get_rotation_euler() const {
m.scale(Vector3(-1, -1, -1));
}
- return m.get_euler();
+ return m.get_euler(p_order);
}
Quaternion Basis::get_rotation_quaternion() const {
@@ -423,218 +421,203 @@ void Basis::get_rotation_axis_angle_local(Vector3 &p_axis, real_t &p_angle) cons
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).
-//
-// The current implementation uses XYZ convention (Z is the first rotation),
-// so euler.z is the angle of the (first) rotation around Z axis and so on,
-//
-// And thus, assuming the matrix is a rotation matrix, this function returns
-// the angles in the decomposition R = X(a1).Y(a2).Z(a3) where Z(a) rotates
-// around the z-axis by a and so on.
-Vector3 Basis::get_euler_xyz() const {
- // Euler angles in XYZ convention.
- // See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
- //
- // rot = cy*cz -cy*sz sy
- // cz*sx*sy+cx*sz cx*cz-sx*sy*sz -cy*sx
- // -cx*cz*sy+sx*sz cz*sx+cx*sy*sz cx*cy
-
- Vector3 euler;
- real_t sy = elements[0][2];
- 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)
- euler.x = 0;
- euler.y = atan2(elements[0][2], elements[0][0]);
- euler.z = 0;
+Vector3 Basis::get_euler(EulerOrder p_order) const {
+ switch (p_order) {
+ case EULER_ORDER_XYZ: {
+ // Euler angles in XYZ convention.
+ // See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
+ //
+ // rot = cy*cz -cy*sz sy
+ // cz*sx*sy+cx*sz cx*cz-sx*sy*sz -cy*sx
+ // -cx*cz*sy+sx*sz cz*sx+cx*sy*sz cx*cy
+
+ Vector3 euler;
+ real_t sy = elements[0][2];
+ 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)
+ euler.x = 0;
+ euler.y = atan2(elements[0][2], elements[0][0]);
+ euler.z = 0;
+ } else {
+ euler.x = Math::atan2(-elements[1][2], elements[2][2]);
+ euler.y = Math::asin(sy);
+ euler.z = Math::atan2(-elements[0][1], elements[0][0]);
+ }
+ } else {
+ 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[1][2], elements[2][2]);
- euler.y = Math::asin(sy);
- euler.z = Math::atan2(-elements[0][1], elements[0][0]);
+ euler.x = Math::atan2(elements[2][1], elements[1][1]);
+ euler.y = Math_PI / 2.0;
+ euler.z = 0.0;
+ }
+ return euler;
+ } break;
+ case EULER_ORDER_XZY: {
+ // 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;
+ } break;
+ case EULER_ORDER_YXZ: {
+ // Euler angles in YXZ convention.
+ // See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
+ //
+ // rot = cy*cz+sy*sx*sz cz*sy*sx-cy*sz cx*sy
+ // cx*sz cx*cz -sx
+ // cy*sx*sz-cz*sy cy*cz*sx+sy*sz cy*cx
+
+ Vector3 euler;
+
+ real_t m12 = elements[1][2];
+
+ 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)
+ euler.x = atan2(-m12, elements[1][1]);
+ euler.y = 0;
+ euler.z = 0;
+ } else {
+ euler.x = asin(-m12);
+ euler.y = atan2(elements[0][2], elements[2][2]);
+ euler.z = atan2(elements[1][0], elements[1][1]);
+ }
+ } else { // m12 == -1
+ euler.x = Math_PI * 0.5;
+ 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.z = 0;
}
- } else {
- 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[2][1], elements[1][1]);
- euler.y = Math_PI / 2.0;
- euler.z = 0.0;
- }
- return euler;
-}
-
-// set_euler_xyz expects 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.
-// The current implementation uses XYZ convention (Z is the first rotation).
-void Basis::set_euler_xyz(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);
-
- //optimizer will optimize away all this anyway
- *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 {
- // Euler angles in YXZ convention.
- // See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
- //
- // rot = cy*cz+sy*sx*sz cz*sy*sx-cy*sz cx*sy
- // cx*sz cx*cz -sx
- // cy*sx*sz-cz*sy cy*cz*sx+sy*sz cy*cx
-
- Vector3 euler;
-
- real_t m12 = elements[1][2];
- 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)
- euler.x = atan2(-m12, elements[1][1]);
- euler.y = 0;
+ return euler;
+ } break;
+ case EULER_ORDER_YZX: {
+ // 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;
+ } break;
+ case EULER_ORDER_ZXY: {
+ // 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;
+ } break;
+ case EULER_ORDER_ZYX: {
+ // 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 {
- euler.x = asin(-m12);
- euler.y = atan2(elements[0][2], elements[2][2]);
- euler.z = atan2(elements[1][0], elements[1][1]);
+ // It's 1
+ euler.x = 0;
+ euler.y = -Math_PI / 2.0;
+ euler.z = -Math::atan2(elements[0][1], elements[1][1]);
}
- } else { // m12 == -1
- euler.x = Math_PI * 0.5;
- euler.y = atan2(elements[0][1], elements[0][0]);
- euler.z = 0;
+ return euler;
+ } break;
+ default: {
+ ERR_FAIL_V_MSG(Vector3(), "Invalid parameter for get_euler(order)");
}
- } else { // m12 == 1
- euler.x = -Math_PI * 0.5;
- euler.y = -atan2(elements[0][1], elements[0][0]);
- euler.z = 0;
}
-
- return euler;
+ return Vector3();
}
-// set_euler_yxz expects 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.
-// The current implementation uses YXZ convention (Z is the first rotation).
-void Basis::set_euler_yxz(const Vector3 &p_euler) {
+void Basis::set_euler(const Vector3 &p_euler, EulerOrder p_order) {
real_t c, s;
c = Math::cos(p_euler.x);
@@ -649,102 +632,29 @@ void Basis::set_euler_yxz(const Vector3 &p_euler) {
s = Math::sin(p_euler.z);
Basis zmat(c, -s, 0.0, s, c, 0.0, 0.0, 0.0, 1.0);
- //optimizer will optimize away all this anyway
- *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;
+ switch (p_order) {
+ case EULER_ORDER_XYZ: {
+ *this = xmat * (ymat * zmat);
+ } break;
+ case EULER_ORDER_XZY: {
+ *this = xmat * zmat * ymat;
+ } break;
+ case EULER_ORDER_YXZ: {
+ *this = ymat * xmat * zmat;
+ } break;
+ case EULER_ORDER_YZX: {
+ *this = ymat * zmat * xmat;
+ } break;
+ case EULER_ORDER_ZXY: {
+ *this = zmat * xmat * ymat;
+ } break;
+ case EULER_ORDER_ZYX: {
+ *this = zmat * ymat * xmat;
+ } break;
+ default: {
+ ERR_FAIL_MSG("Invalid order parameter for set_euler(vec3,order)");
}
- } 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 {
@@ -769,13 +679,13 @@ bool Basis::operator!=(const Basis &p_matrix) const {
Basis::operator String() const {
return "[X: " + get_axis(0).operator String() +
- ", Y: " + get_axis(1).operator String() +
- ", Z: " + get_axis(2).operator String() + "]";
+ ", Y: " + get_axis(1).operator String() +
+ ", Z: " + get_axis(2).operator String() + "]";
}
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;
@@ -791,9 +701,9 @@ Quaternion Basis::get_quaternion() const {
temp[1] = ((m.elements[0][2] - m.elements[2][0]) * s);
temp[2] = ((m.elements[1][0] - m.elements[0][1]) * s);
} else {
- int i = m.elements[0][0] < m.elements[1][1] ?
- (m.elements[1][1] < m.elements[2][2] ? 2 : 1) :
- (m.elements[0][0] < m.elements[2][2] ? 2 : 0);
+ int i = m.elements[0][0] < m.elements[1][1]
+ ? (m.elements[1][1] < m.elements[2][2] ? 2 : 1)
+ : (m.elements[0][0] < m.elements[2][2] ? 2 : 0);
int j = (i + 1) % 3;
int k = (i + 2) % 3;
@@ -991,21 +901,23 @@ 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..e2fdb95685 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),
@@ -82,40 +85,35 @@ public:
void rotate(const Quaternion &p_quaternion);
Basis rotated(const Quaternion &p_quaternion) const;
- Vector3 get_rotation_euler() const;
+ enum EulerOrder {
+ EULER_ORDER_XYZ,
+ EULER_ORDER_XZY,
+ EULER_ORDER_YXZ,
+ EULER_ORDER_YZX,
+ EULER_ORDER_ZXY,
+ EULER_ORDER_ZYX
+ };
+
+ Vector3 get_euler_normalized(EulerOrder p_order = EULER_ORDER_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;
- Vector3 get_rotation() const { return get_rotation_euler(); };
void rotate_to_align(Vector3 p_start_direction, Vector3 p_end_direction);
Vector3 rotref_posscale_decomposition(Basis &rotref) const;
- 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);
+ 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) {
+ Basis b;
+ b.set_euler(p_euler, p_order);
+ return b;
+ }
Quaternion get_quaternion() const;
void set_quaternion(const Quaternion &p_quaternion);
- Vector3 get_euler() const { return get_euler_yxz(); }
- void set_euler(const Vector3 &p_euler) { set_euler_yxz(p_euler); }
-
void get_axis_angle(Vector3 &r_axis, real_t &r_angle) const;
void set_axis_angle(const Vector3 &p_axis, real_t p_phi);
@@ -166,8 +164,6 @@ 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;
@@ -249,11 +245,9 @@ public:
Basis(const Quaternion &p_quaternion) { set_quaternion(p_quaternion); };
Basis(const Quaternion &p_quaternion, const Vector3 &p_scale) { set_quaternion_scale(p_quaternion, p_scale); }
- Basis(const Vector3 &p_euler) { set_euler(p_euler); }
- Basis(const Vector3 &p_euler, const Vector3 &p_scale) { set_euler_scale(p_euler, p_scale); }
-
Basis(const Vector3 &p_axis, real_t p_phi) { set_axis_angle(p_axis, p_phi); }
Basis(const Vector3 &p_axis, real_t p_phi, const Vector3 &p_scale) { set_axis_angle_scale(p_axis, p_phi, p_scale); }
+ static Basis from_scale(const Vector3 &p_scale);
_FORCE_INLINE_ Basis(const Vector3 &row0, const Vector3 &row1, const Vector3 &row2) {
elements[0] = row0;
@@ -330,7 +324,7 @@ Vector3 Basis::xform_inv(const Vector3 &p_vector) const {
real_t Basis::determinant() const {
return elements[0][0] * (elements[1][1] * elements[2][2] - elements[2][1] * elements[1][2]) -
- elements[1][0] * (elements[0][1] * elements[2][2] - elements[2][1] * elements[0][2]) +
- elements[2][0] * (elements[0][1] * elements[1][2] - elements[1][1] * elements[0][2]);
+ elements[1][0] * (elements[0][1] * elements[2][2] - elements[2][1] * elements[0][2]) +
+ elements[2][0] * (elements[0][1] * elements[1][2] - elements[1][1] * elements[0][2]);
}
#endif // BASIS_H
diff --git a/core/math/bvh.h b/core/math/bvh.h
index cefbc9b0db..c1eff02178 100644
--- a/core/math/bvh.h
+++ b/core/math/bvh.h
@@ -200,7 +200,7 @@ public:
// use in conjunction with activate if you have deferred the collision check, and
// set pairable has never been called.
- // (deferred collision checks are a workaround for visual server for historical reasons)
+ // (deferred collision checks are a workaround for rendering server for historical reasons)
void force_collision_check(BVHHandle p_handle) {
if (USE_PAIRS) {
// the aabb should already be up to date in the BVH
@@ -654,7 +654,7 @@ private:
// remove from changed items (not very efficient yet)
for (int n = 0; n < (int)changed_items.size(); n++) {
if (changed_items[n] == p_handle) {
- changed_items.remove_unordered(n);
+ changed_items.remove_at_unordered(n);
// because we are using an unordered remove,
// the last changed item will now be at spot 'n',
diff --git a/core/math/bvh_cull.inc b/core/math/bvh_cull.inc
index cba8ea6cb3..d7edc8a884 100644
--- a/core/math/bvh_cull.inc
+++ b/core/math/bvh_cull.inc
@@ -14,7 +14,7 @@ struct CullParams {
uint32_t pairable_type;
// optional components for different tests
- Vector3 point;
+ Point point;
BVHABB_CLASS abb;
typename BVHABB_CLASS::ConvexHull hull;
typename BVHABB_CLASS::Segment segment;
diff --git a/core/math/bvh_debug.inc b/core/math/bvh_debug.inc
index a97304334c..55db794ee3 100644
--- a/core/math/bvh_debug.inc
+++ b/core/math/bvh_debug.inc
@@ -6,24 +6,21 @@ void _debug_recursive_print_tree(int p_tree_id) const {
}
String _debug_aabb_to_string(const BVHABB_CLASS &aabb) const {
- String sz = "(";
- sz += itos(aabb.min.x);
- sz += " ~ ";
- sz += itos(-aabb.neg_max.x);
- sz += ") (";
+ Point size = aabb.calculate_size();
- sz += itos(aabb.min.y);
- sz += " ~ ";
- sz += itos(-aabb.neg_max.y);
- sz += ") (";
+ String sz;
+ float vol = 0.0;
- sz += itos(aabb.min.z);
- sz += " ~ ";
- sz += itos(-aabb.neg_max.z);
- sz += ") ";
+ for (int i = 0; i < Point::AXES_COUNT; ++i) {
+ sz += "(";
+ sz += itos(aabb.min[i]);
+ sz += " ~ ";
+ sz += itos(-aabb.neg_max[i]);
+ sz += ") ";
+
+ vol += size[i];
+ }
- Vector3 size = aabb.calculate_size();
- float vol = size.x * size.y * size.z;
sz += "vol " + itos(vol);
return sz;
diff --git a/core/math/bvh_logic.inc b/core/math/bvh_logic.inc
index afab08f151..c65002a9fd 100644
--- a/core/math/bvh_logic.inc
+++ b/core/math/bvh_logic.inc
@@ -42,24 +42,24 @@ BVHABB_CLASS _logic_abb_merge(const BVHABB_CLASS &a, const BVHABB_CLASS &b) {
//--------------------------------------------------------------------------------------------------
/**
-@file q3DynamicAABBTree.h
-@author Randy Gaul
-@date 10/10/2014
- Copyright (c) 2014 Randy Gaul http://www.randygaul.net
- 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.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it
- freely, subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not
- claim that you wrote the original software. If you use this software
- in a product, an acknowledgment in the product documentation would be
- appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not
- be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
-*/
+ * @file q3DynamicAABBTree.h
+ * @author Randy Gaul
+ * @date 10/10/2014
+ * Copyright (c) 2014 Randy Gaul http://www.randygaul.net
+ * 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.
+ * Permission is granted to anyone to use this software for any purpose,
+ * including commercial applications, and to alter it and redistribute it
+ * freely, subject to the following restrictions:
+ * 1. The origin of this software must not be misrepresented; you must not
+ * claim that you wrote the original software. If you use this software
+ * in a product, an acknowledgment in the product documentation would be
+ * appreciated but is not required.
+ * 2. Altered source versions must be plainly marked as such, and must not
+ * be misrepresented as being the original software.
+ * 3. This notice may not be removed or altered from any source distribution.
+ */
//--------------------------------------------------------------------------------------------------
// This function is based on the 'Balance' function from Randy Gaul's qu3e
@@ -67,7 +67,7 @@ BVHABB_CLASS _logic_abb_merge(const BVHABB_CLASS &a, const BVHABB_CLASS &b) {
// It is MODIFIED from qu3e version.
// This is the only function used (and _logic_abb_merge helper function).
int32_t _logic_balance(int32_t iA, uint32_t p_tree_id) {
- // return iA; // uncomment this to bypass balance
+ //return iA; // uncomment this to bypass balance
TNode *A = &_nodes[iA];
@@ -75,12 +75,12 @@ int32_t _logic_balance(int32_t iA, uint32_t p_tree_id) {
return iA;
}
- /* A
- / \
- B C
- / \ / \
- D E F G
- */
+ /* A
+ * / \
+ * B C
+ * / \ / \
+ * D E F G
+ */
CRASH_COND(A->num_children != 2);
int32_t iB = A->children[0];
diff --git a/core/math/bvh_pair.inc b/core/math/bvh_pair.inc
index 839db59a3a..a12acec2b6 100644
--- a/core/math/bvh_pair.inc
+++ b/core/math/bvh_pair.inc
@@ -51,7 +51,7 @@ struct ItemPairs {
for (int n = 0; n < num_pairs; n++) {
if (extended_pairs[n].handle == h) {
userdata = extended_pairs[n].userdata;
- extended_pairs.remove_unordered(n);
+ extended_pairs.remove_at_unordered(n);
num_pairs--;
break;
}
diff --git a/core/math/bvh_split.inc b/core/math/bvh_split.inc
index 3fcc4c7b10..f19ee8a7da 100644
--- a/core/math/bvh_split.inc
+++ b/core/math/bvh_split.inc
@@ -28,11 +28,15 @@ void _split_leaf_sort_groups_simple(int &num_a, int &num_b, uint16_t *group_a, u
Point centre = full_bound.calculate_centre();
Point size = full_bound.calculate_size();
- int order[3];
+ int order[Point::AXIS_COUNT];
- order[0] = size.min_axis();
- order[2] = size.max_axis();
- order[1] = 3 - (order[0] + order[2]);
+ order[0] = size.min_axis_index();
+ order[Point::AXIS_COUNT - 1] = size.max_axis_index();
+
+ static_assert(Point::AXIS_COUNT <= 3);
+ if (Point::AXIS_COUNT == 3) {
+ order[1] = 3 - (order[0] + order[2]);
+ }
// simplest case, split on the longest axis
int split_axis = order[0];
@@ -54,7 +58,7 @@ void _split_leaf_sort_groups_simple(int &num_a, int &num_b, uint16_t *group_a, u
// detect when split on longest axis failed
int min_threshold = MAX_ITEMS / 4;
- int min_group_size[3];
+ int min_group_size[Point::AXIS_COUNT];
min_group_size[0] = MIN(num_a, num_b);
if (min_group_size[0] < min_threshold) {
// slow but sure .. first move everything back into a
@@ -64,7 +68,7 @@ void _split_leaf_sort_groups_simple(int &num_a, int &num_b, uint16_t *group_a, u
num_b = 0;
// now calculate the best split
- for (int axis = 1; axis < 3; axis++) {
+ for (int axis = 1; axis < Point::AXIS_COUNT; axis++) {
split_axis = order[axis];
int count = 0;
@@ -82,7 +86,7 @@ void _split_leaf_sort_groups_simple(int &num_a, int &num_b, uint16_t *group_a, u
// best axis
int best_axis = 0;
int best_min = min_group_size[0];
- for (int axis = 1; axis < 3; axis++) {
+ for (int axis = 1; axis < Point::AXIS_COUNT; axis++) {
if (min_group_size[axis] > best_min) {
best_min = min_group_size[axis];
best_axis = axis;
diff --git a/core/math/camera_matrix.cpp b/core/math/camera_matrix.cpp
index 8066a59281..48984c4d5b 100644
--- a/core/math/camera_matrix.cpp
+++ b/core/math/camera_matrix.cpp
@@ -35,17 +35,17 @@
float CameraMatrix::determinant() const {
return matrix[0][3] * matrix[1][2] * matrix[2][1] * matrix[3][0] - matrix[0][2] * matrix[1][3] * matrix[2][1] * matrix[3][0] -
- matrix[0][3] * matrix[1][1] * matrix[2][2] * matrix[3][0] + matrix[0][1] * matrix[1][3] * matrix[2][2] * matrix[3][0] +
- matrix[0][2] * matrix[1][1] * matrix[2][3] * matrix[3][0] - matrix[0][1] * matrix[1][2] * matrix[2][3] * matrix[3][0] -
- matrix[0][3] * matrix[1][2] * matrix[2][0] * matrix[3][1] + matrix[0][2] * matrix[1][3] * matrix[2][0] * matrix[3][1] +
- matrix[0][3] * matrix[1][0] * matrix[2][2] * matrix[3][1] - matrix[0][0] * matrix[1][3] * matrix[2][2] * matrix[3][1] -
- matrix[0][2] * matrix[1][0] * matrix[2][3] * matrix[3][1] + matrix[0][0] * matrix[1][2] * matrix[2][3] * matrix[3][1] +
- matrix[0][3] * matrix[1][1] * matrix[2][0] * matrix[3][2] - matrix[0][1] * matrix[1][3] * matrix[2][0] * matrix[3][2] -
- matrix[0][3] * matrix[1][0] * matrix[2][1] * matrix[3][2] + matrix[0][0] * matrix[1][3] * matrix[2][1] * matrix[3][2] +
- matrix[0][1] * matrix[1][0] * matrix[2][3] * matrix[3][2] - matrix[0][0] * matrix[1][1] * matrix[2][3] * matrix[3][2] -
- matrix[0][2] * matrix[1][1] * matrix[2][0] * matrix[3][3] + matrix[0][1] * matrix[1][2] * matrix[2][0] * matrix[3][3] +
- matrix[0][2] * matrix[1][0] * matrix[2][1] * matrix[3][3] - matrix[0][0] * matrix[1][2] * matrix[2][1] * matrix[3][3] -
- matrix[0][1] * matrix[1][0] * matrix[2][2] * matrix[3][3] + matrix[0][0] * matrix[1][1] * matrix[2][2] * matrix[3][3];
+ matrix[0][3] * matrix[1][1] * matrix[2][2] * matrix[3][0] + matrix[0][1] * matrix[1][3] * matrix[2][2] * matrix[3][0] +
+ matrix[0][2] * matrix[1][1] * matrix[2][3] * matrix[3][0] - matrix[0][1] * matrix[1][2] * matrix[2][3] * matrix[3][0] -
+ matrix[0][3] * matrix[1][2] * matrix[2][0] * matrix[3][1] + matrix[0][2] * matrix[1][3] * matrix[2][0] * matrix[3][1] +
+ matrix[0][3] * matrix[1][0] * matrix[2][2] * matrix[3][1] - matrix[0][0] * matrix[1][3] * matrix[2][2] * matrix[3][1] -
+ matrix[0][2] * matrix[1][0] * matrix[2][3] * matrix[3][1] + matrix[0][0] * matrix[1][2] * matrix[2][3] * matrix[3][1] +
+ matrix[0][3] * matrix[1][1] * matrix[2][0] * matrix[3][2] - matrix[0][1] * matrix[1][3] * matrix[2][0] * matrix[3][2] -
+ matrix[0][3] * matrix[1][0] * matrix[2][1] * matrix[3][2] + matrix[0][0] * matrix[1][3] * matrix[2][1] * matrix[3][2] +
+ matrix[0][1] * matrix[1][0] * matrix[2][3] * matrix[3][2] - matrix[0][0] * matrix[1][1] * matrix[2][3] * matrix[3][2] -
+ matrix[0][2] * matrix[1][1] * matrix[2][0] * matrix[3][3] + matrix[0][1] * matrix[1][2] * matrix[2][0] * matrix[3][3] +
+ matrix[0][2] * matrix[1][0] * matrix[2][1] * matrix[3][3] - matrix[0][0] * matrix[1][2] * matrix[2][1] * matrix[3][3] -
+ matrix[0][1] * matrix[1][0] * matrix[2][2] * matrix[3][3] + matrix[0][0] * matrix[1][1] * matrix[2][2] * matrix[3][3];
}
void CameraMatrix::set_identity() {
diff --git a/core/math/color.cpp b/core/math/color.cpp
index dc86cacf8f..8310c342ed 100644
--- a/core/math/color.cpp
+++ b/core/math/color.cpp
@@ -107,6 +107,39 @@ uint64_t Color::to_rgba64() const {
return c;
}
+String _to_hex(float p_val) {
+ int v = Math::round(p_val * 255);
+ v = CLAMP(v, 0, 255);
+ String ret;
+
+ for (int i = 0; i < 2; i++) {
+ char32_t c[2] = { 0, 0 };
+ int lv = v & 0xF;
+ if (lv < 10) {
+ c[0] = '0' + lv;
+ } else {
+ c[0] = 'a' + lv - 10;
+ }
+
+ v >>= 4;
+ String cs = (const char32_t *)c;
+ ret = cs + ret;
+ }
+
+ return ret;
+}
+
+String Color::to_html(bool p_alpha) const {
+ String txt;
+ txt += _to_hex(r);
+ txt += _to_hex(g);
+ txt += _to_hex(b);
+ if (p_alpha) {
+ txt += _to_hex(a);
+ }
+ return txt;
+}
+
float Color::get_h() const {
float min = MIN(r, g);
min = MIN(min, b);
@@ -249,20 +282,6 @@ Color Color::hex64(uint64_t p_hex) {
return Color(r, g, b, a);
}
-Color Color::from_rgbe9995(uint32_t p_rgbe) {
- float r = p_rgbe & 0x1ff;
- float g = (p_rgbe >> 9) & 0x1ff;
- float b = (p_rgbe >> 18) & 0x1ff;
- float e = (p_rgbe >> 27);
- float m = Math::pow(2, e - 15.0 - 9.0);
-
- float rd = r * m;
- float gd = g * m;
- float bd = b * m;
-
- return Color(rd, gd, bd, 1.0f);
-}
-
static int _parse_col4(const String &p_str, int p_ofs) {
char character = p_str[p_ofs];
@@ -428,43 +447,24 @@ Color Color::from_string(const String &p_string, const Color &p_default) {
}
}
-String _to_hex(float p_val) {
- int v = Math::round(p_val * 255);
- v = CLAMP(v, 0, 255);
- String ret;
-
- for (int i = 0; i < 2; i++) {
- char32_t c[2] = { 0, 0 };
- int lv = v & 0xF;
- if (lv < 10) {
- c[0] = '0' + lv;
- } else {
- c[0] = 'a' + lv - 10;
- }
-
- v >>= 4;
- String cs = (const char32_t *)c;
- ret = cs + ret;
- }
-
- return ret;
+Color Color::from_hsv(float p_h, float p_s, float p_v, float p_alpha) {
+ Color c;
+ c.set_hsv(p_h, p_s, p_v, p_alpha);
+ return c;
}
-String Color::to_html(bool p_alpha) const {
- String txt;
- txt += _to_hex(r);
- txt += _to_hex(g);
- txt += _to_hex(b);
- if (p_alpha) {
- txt += _to_hex(a);
- }
- return txt;
-}
+Color Color::from_rgbe9995(uint32_t p_rgbe) {
+ float r = p_rgbe & 0x1ff;
+ float g = (p_rgbe >> 9) & 0x1ff;
+ float b = (p_rgbe >> 18) & 0x1ff;
+ float e = (p_rgbe >> 27);
+ float m = Math::pow(2, e - 15.0 - 9.0);
-Color Color::from_hsv(float p_h, float p_s, float p_v, float p_a) const {
- Color c;
- c.set_hsv(p_h, p_s, p_v, p_a);
- return c;
+ float rd = r * m;
+ float gd = g * m;
+ float bd = b * m;
+
+ return Color(rd, gd, bd, 1.0f);
}
Color::operator String() const {
diff --git a/core/math/color.h b/core/math/color.h
index a95dbf4f60..ffd0fd8f6e 100644
--- a/core/math/color.h
+++ b/core/math/color.h
@@ -51,6 +51,7 @@ struct Color {
uint64_t to_rgba64() const;
uint64_t to_argb64() const;
uint64_t to_abgr64() const;
+ String to_html(bool p_alpha = true) const;
float get_h() const;
float get_s() const;
float get_v() const;
@@ -189,8 +190,7 @@ struct Color {
static String get_named_color_name(int p_idx);
static Color get_named_color(int p_idx);
static Color from_string(const String &p_string, const Color &p_default);
- String to_html(bool p_alpha = true) const;
- Color from_hsv(float p_h, float p_s, float p_v, float p_a) const;
+ static Color from_hsv(float p_h, float p_s, float p_v, float p_alpha = 1.0);
static Color from_rgbe9995(uint32_t p_rgbe);
_FORCE_INLINE_ bool operator<(const Color &p_color) const; //used in set keys
diff --git a/core/math/convex_hull.cpp b/core/math/convex_hull.cpp
index 21cb0efe20..6f551319df 100644
--- a/core/math/convex_hull.cpp
+++ b/core/math/convex_hull.cpp
@@ -265,8 +265,7 @@ public:
}
int32_t get_sign() const {
- return ((int64_t)high < 0) ? -1 : (high || low) ? 1 :
- 0;
+ return ((int64_t)high < 0) ? -1 : ((high || low) ? 1 : 0);
}
bool operator<(const Int128 &b) const {
@@ -594,8 +593,6 @@ private:
IntermediateHull() {
}
-
- void print();
};
enum Orientation { NONE,
@@ -609,9 +606,9 @@ private:
PagedAllocator<Face> face_pool;
LocalVector<Vertex *> original_vertices;
int32_t merge_stamp = 0;
- int32_t min_axis = 0;
- int32_t med_axis = 0;
- int32_t max_axis = 0;
+ Vector3::Axis min_axis = Vector3::Axis::AXIS_X;
+ Vector3::Axis med_axis = Vector3::Axis::AXIS_X;
+ Vector3::Axis max_axis = Vector3::Axis::AXIS_X;
int32_t used_edge_pairs = 0;
int32_t max_used_edge_pairs = 0;
@@ -737,8 +734,6 @@ int32_t ConvexHullInternal::Rational64::compare(const Rational64 &b) const {
return 0;
}
- // return (numerator * b.denominator > b.numerator * denominator) ? sign : (numerator * b.denominator < b.numerator * denominator) ? -sign : 0;
-
#ifdef USE_X86_64_ASM
int32_t result;
@@ -759,10 +754,9 @@ int32_t ConvexHullInternal::Rational64::compare(const Rational64 &b) const {
: "=&b"(result), [tmp] "=&r"(tmp), "=a"(dummy)
: "a"(denominator), [bn] "g"(b.numerator), [tn] "g"(numerator), [bd] "g"(b.denominator)
: "%rdx", "cc");
- return result ? result ^ sign // if sign is +1, only bit 0 of result is inverted, which does not change the sign of result (and cannot result in zero)
- // if sign is -1, all bits of result are inverted, which changes the sign of result (and again cannot result in zero)
- :
- 0;
+ // if sign is +1, only bit 0 of result is inverted, which does not change the sign of result (and cannot result in zero)
+ // if sign is -1, all bits of result are inverted, which changes the sign of result (and again cannot result in zero)
+ return result ? result ^ sign : 0;
#else
@@ -795,8 +789,7 @@ int32_t ConvexHullInternal::Rational128::compare(const Rational128 &b) const {
int32_t ConvexHullInternal::Rational128::compare(int64_t b) const {
if (is_int_64) {
int64_t a = sign * (int64_t)numerator.low;
- return (a > b) ? 1 : (a < b) ? -1 :
- 0;
+ return (a > b) ? 1 : ((a < b) ? -1 : 0);
}
if (b > 0) {
if (sign <= 0) {
@@ -1448,8 +1441,7 @@ void ConvexHullInternal::merge(IntermediateHull &p_h0, IntermediateHull &p_h1) {
c1->edges = e;
return;
} else {
- int32_t cmp = !min0 ? 1 : !min1 ? -1 :
- min_cot0.compare(min_cot1);
+ int32_t cmp = !min0 ? 1 : (!min1 ? -1 : min_cot0.compare(min_cot1));
#ifdef DEBUG_CONVEX_HULL
printf(" -> Result %d\n", cmp);
#endif
@@ -1593,12 +1585,12 @@ void ConvexHullInternal::compute(const Vector3 *p_coords, int32_t p_count) {
}
Vector3 s = aabb.size;
- max_axis = s.max_axis();
- min_axis = s.min_axis();
+ max_axis = s.max_axis_index();
+ min_axis = s.min_axis_index();
if (min_axis == max_axis) {
- min_axis = (max_axis + 1) % 3;
+ min_axis = Vector3::Axis((max_axis + 1) % 3);
}
- med_axis = 3 - max_axis - min_axis;
+ med_axis = Vector3::Axis(3 - max_axis - min_axis);
s /= real_t(10216);
if (((med_axis + 1) % 3) != max_axis) {
@@ -1696,7 +1688,7 @@ real_t ConvexHullInternal::shrink(real_t p_amount, real_t p_clamp_amount) {
while (stack.size() > 0) {
Vertex *v = stack[stack.size() - 1];
- stack.remove(stack.size() - 1);
+ stack.remove_at(stack.size() - 1);
Edge *e = v->edges;
if (e) {
do {
@@ -2260,10 +2252,21 @@ 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/delaunay_2d.h b/core/math/delaunay_2d.h
index 95064e5700..779ac96b79 100644
--- a/core/math/delaunay_2d.h
+++ b/core/math/delaunay_2d.h
@@ -101,7 +101,7 @@ public:
}
float delta_max = MAX(rect.size.width, rect.size.height);
- Vector2 center = rect.position + rect.size * 0.5;
+ Vector2 center = rect.get_center();
points.push_back(Vector2(center.x - 20 * delta_max, center.y - delta_max));
points.push_back(Vector2(center.x, center.y + 20 * delta_max));
@@ -123,7 +123,7 @@ public:
for (int j = 0; j < triangles.size(); j++) {
if (triangles[j].bad) {
- triangles.remove(j);
+ triangles.remove_at(j);
j--;
}
}
@@ -154,7 +154,7 @@ public:
}
}
if (invalid) {
- triangles.remove(i);
+ triangles.remove_at(i);
i--;
}
}
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/expression.cpp b/core/math/expression.cpp
index 05f2c8dac9..fe277cff96 100644
--- a/core/math/expression.cpp
+++ b/core/math/expression.cpp
@@ -410,6 +410,14 @@ Error Expression::_get_token(Token &r_token) {
} else if (id == "self") {
r_token.type = TK_SELF;
} else {
+ for (int i = 0; i < Variant::VARIANT_MAX; i++) {
+ if (id == Variant::get_type_name(Variant::Type(i))) {
+ r_token.type = TK_BASIC_TYPE;
+ r_token.value = i;
+ return OK;
+ }
+ }
+
if (Variant::has_utility_function(id)) {
r_token.type = TK_BUILTIN_FUNC;
r_token.value = id;
@@ -1087,7 +1095,7 @@ Expression::ENode *Expression::_parse_expression() {
op->nodes[1] = nullptr;
expression.write[i].is_op = false;
expression.write[i].node = op;
- expression.remove(i + 1);
+ expression.remove_at(i + 1);
}
} else {
@@ -1119,8 +1127,8 @@ Expression::ENode *Expression::_parse_expression() {
//replace all 3 nodes by this operator and make it an expression
expression.write[next_op - 1].node = op;
- expression.remove(next_op);
- expression.remove(next_op);
+ expression.remove_at(next_op);
+ expression.remove_at(next_op);
}
}
diff --git a/core/math/face3.cpp b/core/math/face3.cpp
index 9af3f868d2..31a853e1a9 100644
--- a/core/math/face3.cpp
+++ b/core/math/face3.cpp
@@ -151,8 +151,8 @@ Face3::Side Face3::get_side_of(const Face3 &p_face, ClockDirection p_clock_dir)
}
Vector3 Face3::get_random_point_inside() const {
- real_t a = Math::random(0, 1);
- real_t b = Math::random(0, 1);
+ real_t a = Math::random(0.0, 1.0);
+ real_t b = Math::random(0.0, 1.0);
if (a > b) {
SWAP(a, b);
}
@@ -229,7 +229,7 @@ bool Face3::intersects_aabb(const AABB &p_aabb) const {
axis.normalize();
real_t minA, maxA, minB, maxB;
- p_aabb.project_range_in_plane(Plane(axis, 0), minA, maxA);
+ p_aabb.project_range_in_plane(Plane(axis), minA, maxA);
project_range(axis, Transform3D(), minB, maxB);
if (maxA < minB || maxB < minA) {
diff --git a/core/math/face3.h b/core/math/face3.h
index 9e9026e54e..0a8c1c6041 100644
--- a/core/math/face3.h
+++ b/core/math/face3.h
@@ -48,13 +48,13 @@ public:
Vector3 vertex[3];
/**
- *
- * @param p_plane plane used to split the face
- * @param p_res array of at least 3 faces, amount used in function return
- * @param p_is_point_over array of at least 3 booleans, determining which face is over the plane, amount used in function return
- * @param _epsilon constant used for numerical error rounding, to add "thickness" to the plane (so coplanar points can happen)
- * @return amount of faces generated by the split, either 0 (means no split possible), 2 or 3
- */
+ *
+ * @param p_plane plane used to split the face
+ * @param p_res array of at least 3 faces, amount used in function return
+ * @param p_is_point_over array of at least 3 booleans, determining which face is over the plane, amount used in function return
+ * @param _epsilon constant used for numerical error rounding, to add "thickness" to the plane (so coplanar points can happen)
+ * @return amount of faces generated by the split, either 0 (means no split possible), 2 or 3
+ */
int split_by_plane(const Plane &p_plane, Face3 *p_res, bool *p_is_point_over) const;
diff --git a/core/math/geometry_2d.h b/core/math/geometry_2d.h
index 8e5830f9b3..028ac0f4eb 100644
--- a/core/math/geometry_2d.h
+++ b/core/math/geometry_2d.h
@@ -37,8 +37,6 @@
#include "core/templates/vector.h"
class Geometry2D {
- Geometry2D();
-
public:
static real_t get_closest_points_between_segments(const Vector2 &p1, const Vector2 &q1, const Vector2 &p2, const Vector2 &q2, Vector2 &c1, Vector2 &c2) {
Vector2 d1 = q1 - p1; // Direction vector of segment S1.
@@ -183,8 +181,7 @@ public:
D = Vector2(D.x * Bn.x + D.y * Bn.y, D.y * Bn.x - D.x * Bn.y);
// Fail if C x B and D x B have the same sign (segments don't intersect).
- // (equivalent to condition (C.y < 0 && D.y < CMP_EPSILON) || (C.y > 0 && D.y > CMP_EPSILON))
- if (C.y * D.y > CMP_EPSILON) {
+ if ((C.y < -CMP_EPSILON && D.y < -CMP_EPSILON) || (C.y > CMP_EPSILON && D.y > CMP_EPSILON)) {
return false;
}
diff --git a/core/math/geometry_3d.cpp b/core/math/geometry_3d.cpp
index 6628b760e0..88d2656025 100644
--- a/core/math/geometry_3d.cpp
+++ b/core/math/geometry_3d.cpp
@@ -819,11 +819,9 @@ Vector<Plane> Geometry3D::build_sphere_planes(real_t p_radius, int p_lats, int p
planes.push_back(Plane(normal, p_radius));
for (int j = 1; j <= p_lats; j++) {
- // FIXME: This is stupid.
- Vector3 angle = normal.lerp(axis, j / (real_t)p_lats).normalized();
- Vector3 pos = angle * p_radius;
- planes.push_back(Plane(pos, angle));
- planes.push_back(Plane(pos * axis_neg, angle * axis_neg));
+ Vector3 plane_normal = normal.lerp(axis, j / (real_t)p_lats).normalized();
+ planes.push_back(Plane(plane_normal, p_radius));
+ planes.push_back(Plane(plane_normal * axis_neg, p_radius));
}
}
@@ -852,10 +850,10 @@ Vector<Plane> Geometry3D::build_capsule_planes(real_t p_radius, real_t p_height,
planes.push_back(Plane(normal, p_radius));
for (int j = 1; j <= p_lats; j++) {
- Vector3 angle = normal.lerp(axis, j / (real_t)p_lats).normalized();
- Vector3 pos = axis * p_height * 0.5 + angle * p_radius;
- planes.push_back(Plane(pos, angle));
- planes.push_back(Plane(pos * axis_neg, angle * axis_neg));
+ Vector3 plane_normal = normal.lerp(axis, j / (real_t)p_lats).normalized();
+ Vector3 position = axis * p_height * 0.5 + plane_normal * p_radius;
+ planes.push_back(Plane(plane_normal, position));
+ planes.push_back(Plane(plane_normal * axis_neg, position * axis_neg));
}
}
diff --git a/core/math/geometry_3d.h b/core/math/geometry_3d.h
index 766689e222..6a59b34585 100644
--- a/core/math/geometry_3d.h
+++ b/core/math/geometry_3d.h
@@ -36,8 +36,6 @@
#include "core/templates/vector.h"
class Geometry3D {
- Geometry3D();
-
public:
static void get_closest_points_between_segments(const Vector3 &p1, const Vector3 &p2, const Vector3 &q1, const Vector3 &q2, Vector3 &c1, Vector3 &c2) {
// Do the function 'd' as defined by pb. I think it's a dot product of some sort.
diff --git a/core/math/math_defs.h b/core/math/math_defs.h
index c3a8f910c0..1c6139688b 100644
--- a/core/math/math_defs.h
+++ b/core/math/math_defs.h
@@ -68,37 +68,38 @@ enum Orientation {
VERTICAL
};
-enum HAlign {
- HALIGN_LEFT,
- HALIGN_CENTER,
- HALIGN_RIGHT,
- HALIGN_FILL,
+enum HorizontalAlignment {
+ HORIZONTAL_ALIGNMENT_LEFT,
+ HORIZONTAL_ALIGNMENT_CENTER,
+ HORIZONTAL_ALIGNMENT_RIGHT,
+ HORIZONTAL_ALIGNMENT_FILL,
};
-enum VAlign {
- VALIGN_TOP,
- VALIGN_CENTER,
- VALIGN_BOTTOM
+enum VerticalAlignment {
+ VERTICAL_ALIGNMENT_TOP,
+ VERTICAL_ALIGNMENT_CENTER,
+ VERTICAL_ALIGNMENT_BOTTOM,
+ VERTICAL_ALIGNMENT_FILL,
};
-enum InlineAlign {
+enum InlineAlignment {
// Image alignment points.
- INLINE_ALIGN_TOP_TO = 0b0000,
- INLINE_ALIGN_CENTER_TO = 0b0001,
- INLINE_ALIGN_BOTTOM_TO = 0b0010,
- INLINE_ALIGN_IMAGE_MASK = 0b0011,
+ INLINE_ALIGNMENT_TOP_TO = 0b0000,
+ INLINE_ALIGNMENT_CENTER_TO = 0b0001,
+ INLINE_ALIGNMENT_BOTTOM_TO = 0b0010,
+ INLINE_ALIGNMENT_IMAGE_MASK = 0b0011,
// Text alignment points.
- INLINE_ALIGN_TO_TOP = 0b0000,
- INLINE_ALIGN_TO_CENTER = 0b0100,
- INLINE_ALIGN_TO_BASELINE = 0b1000,
- INLINE_ALIGN_TO_BOTTOM = 0b1100,
- INLINE_ALIGN_TEXT_MASK = 0b1100,
+ INLINE_ALIGNMENT_TO_TOP = 0b0000,
+ INLINE_ALIGNMENT_TO_CENTER = 0b0100,
+ INLINE_ALIGNMENT_TO_BASELINE = 0b1000,
+ INLINE_ALIGNMENT_TO_BOTTOM = 0b1100,
+ INLINE_ALIGNMENT_TEXT_MASK = 0b1100,
// Presets.
- INLINE_ALIGN_TOP = INLINE_ALIGN_TOP_TO | INLINE_ALIGN_TO_TOP,
- INLINE_ALIGN_CENTER = INLINE_ALIGN_CENTER_TO | INLINE_ALIGN_TO_CENTER,
- INLINE_ALIGN_BOTTOM = INLINE_ALIGN_BOTTOM_TO | INLINE_ALIGN_TO_BOTTOM
+ INLINE_ALIGNMENT_TOP = INLINE_ALIGNMENT_TOP_TO | INLINE_ALIGNMENT_TO_TOP,
+ INLINE_ALIGNMENT_CENTER = INLINE_ALIGNMENT_CENTER_TO | INLINE_ALIGNMENT_TO_CENTER,
+ INLINE_ALIGNMENT_BOTTOM = INLINE_ALIGNMENT_BOTTOM_TO | INLINE_ALIGNMENT_TO_BOTTOM
};
enum Side {
@@ -116,10 +117,10 @@ enum Corner {
};
/**
- * 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
- * presence or absence of the REAL_T_IS_DOUBLE define.
- */
+ * 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
+ * presence or absence of the REAL_T_IS_DOUBLE define.
+ */
#ifdef REAL_T_IS_DOUBLE
typedef double real_t;
#else
diff --git a/core/math/math_funcs.cpp b/core/math/math_funcs.cpp
index bbed257f60..2b6d92fe0e 100644
--- a/core/math/math_funcs.cpp
+++ b/core/math/math_funcs.cpp
@@ -53,6 +53,10 @@ uint32_t Math::rand() {
return default_rand.rand();
}
+double Math::randfn(double mean, double deviation) {
+ return default_rand.randfn(mean, deviation);
+}
+
int Math::step_decimals(double p_step) {
static const int maxn = 10;
static const double sd[maxn] = {
diff --git a/core/math/math_funcs.h b/core/math/math_funcs.h
index 4e4f566517..8df45255c9 100644
--- a/core/math/math_funcs.h
+++ b/core/math/math_funcs.h
@@ -159,7 +159,7 @@ public:
} ieee754;
ieee754.f = p_val;
return ((unsigned)(ieee754.u >> 32) & 0x7fffffff) == 0x7ff00000 &&
- ((unsigned)ieee754.u == 0);
+ ((unsigned)ieee754.u == 0);
#else
return isinf(p_val);
#endif
@@ -266,8 +266,8 @@ public:
float s = CLAMP((p_s - p_from) / (p_to - p_from), 0.0f, 1.0f);
return s * s * (3.0f - 2.0f * s);
}
- static _ALWAYS_INLINE_ double move_toward(double p_from, double p_to, double p_delta) { return abs(p_to - p_from) <= p_delta ? p_to : p_from + SGN(p_to - p_from) * p_delta; }
- static _ALWAYS_INLINE_ float move_toward(float p_from, float p_to, float p_delta) { return abs(p_to - p_from) <= p_delta ? p_to : p_from + SGN(p_to - p_from) * p_delta; }
+ static _ALWAYS_INLINE_ double move_toward(double p_from, double p_to, double p_delta) { return abs(p_to - p_from) <= p_delta ? p_to : p_from + SIGN(p_to - p_from) * p_delta; }
+ static _ALWAYS_INLINE_ float move_toward(float p_from, float p_to, float p_delta) { return abs(p_to - p_from) <= p_delta ? p_to : p_from + SIGN(p_to - p_from) * p_delta; }
static _ALWAYS_INLINE_ double linear2db(double p_linear) { return Math::log(p_linear) * 8.6858896380650365530225783783321; }
static _ALWAYS_INLINE_ float linear2db(float p_linear) { return Math::log(p_linear) * 8.6858896380650365530225783783321; }
@@ -291,6 +291,19 @@ public:
return is_zero_approx(range) ? min : value - (range * Math::floor((value - min) / range));
}
+ static _ALWAYS_INLINE_ float fract(float value) {
+ return value - floor(value);
+ }
+ static _ALWAYS_INLINE_ double fract(double value) {
+ return value - floor(value);
+ }
+ static _ALWAYS_INLINE_ float pingpong(float value, float length) {
+ return (length != 0.0f) ? abs(fract((value - length) / (length * 2.0f)) * length * 2.0f - length) : 0.0f;
+ }
+ static _ALWAYS_INLINE_ double pingpong(double value, double length) {
+ return (length != 0.0) ? abs(fract((value - length) / (length * 2.0)) * length * 2.0 - length) : 0.0;
+ }
+
// double only, as these functions are mainly used by the editor and not performance-critical,
static double ease(double p_x, double p_c);
static int step_decimals(double p_step);
@@ -305,6 +318,7 @@ public:
static uint32_t rand();
static _ALWAYS_INLINE_ double randd() { return (double)rand() / (double)Math::RANDOM_32BIT_MAX; }
static _ALWAYS_INLINE_ float randf() { return (float)rand() / (float)Math::RANDOM_32BIT_MAX; }
+ static double randfn(double mean, double deviation);
static double random(double from, double to);
static float random(float from, float to);
@@ -461,7 +475,7 @@ public:
mantissa = 0;
}
hf = (((uint16_t)sign) << 15) | (uint16_t)((0x1F << 10)) |
- (uint16_t)(mantissa >> 13);
+ (uint16_t)(mantissa >> 13);
}
// check if exponent is <= -15
else if (exp <= 0x38000000) {
@@ -474,8 +488,8 @@ public:
hf = 0; //denormals do not work for 3D, convert to zero
} else {
hf = (((uint16_t)sign) << 15) |
- (uint16_t)((exp - 0x38000000) >> 13) |
- (uint16_t)(mantissa >> 13);
+ (uint16_t)((exp - 0x38000000) >> 13) |
+ (uint16_t)(mantissa >> 13);
}
return hf;
diff --git a/core/math/plane.cpp b/core/math/plane.cpp
index 3c78b55b90..59f7918258 100644
--- a/core/math/plane.cpp
+++ b/core/math/plane.cpp
@@ -88,7 +88,7 @@ bool Plane::intersect_3(const Plane &p_plane1, const Plane &p_plane2, Vector3 *r
*r_result = ((vec3_cross(normal1, normal2) * p_plane0.d) +
(vec3_cross(normal2, normal0) * p_plane1.d) +
(vec3_cross(normal0, normal1) * p_plane2.d)) /
- denom;
+ denom;
}
return true;
diff --git a/core/math/plane.h b/core/math/plane.h
index 2267b28c53..18be5d5d12 100644
--- a/core/math/plane.h
+++ b/core/math/plane.h
@@ -85,8 +85,8 @@ public:
normal(p_a, p_b, p_c),
d(p_d) {}
- _FORCE_INLINE_ Plane(const Vector3 &p_normal, real_t p_d);
- _FORCE_INLINE_ Plane(const Vector3 &p_point, const Vector3 &p_normal);
+ _FORCE_INLINE_ Plane(const Vector3 &p_normal, real_t p_d = 0.0);
+ _FORCE_INLINE_ Plane(const Vector3 &p_normal, const Vector3 &p_point);
_FORCE_INLINE_ Plane(const Vector3 &p_point1, const Vector3 &p_point2, const Vector3 &p_point3, ClockDirection p_dir = CLOCKWISE);
};
@@ -109,7 +109,7 @@ Plane::Plane(const Vector3 &p_normal, real_t p_d) :
d(p_d) {
}
-Plane::Plane(const Vector3 &p_point, const Vector3 &p_normal) :
+Plane::Plane(const Vector3 &p_normal, const Vector3 &p_point) :
normal(p_normal),
d(p_normal.dot(p_point)) {
}
diff --git a/core/math/quaternion.cpp b/core/math/quaternion.cpp
index 3f1d2c58e5..944474686a 100644
--- a/core/math/quaternion.cpp
+++ b/core/math/quaternion.cpp
@@ -44,7 +44,7 @@ real_t Quaternion::angle_to(const Quaternion &p_to) const {
// This implementation uses XYZ convention (Z is the first rotation).
Vector3 Quaternion::get_euler_xyz() const {
Basis m(*this);
- return m.get_euler_xyz();
+ return m.get_euler(Basis::EULER_ORDER_XYZ);
}
// get_euler_yxz returns a vector containing the Euler angles in the format
@@ -56,7 +56,7 @@ Vector3 Quaternion::get_euler_yxz() const {
ERR_FAIL_COND_V_MSG(!is_normalized(), Vector3(0, 0, 0), "The quaternion must be normalized.");
#endif
Basis m(*this);
- return m.get_euler_yxz();
+ return m.get_euler(Basis::EULER_ORDER_YXZ);
}
void Quaternion::operator*=(const Quaternion &p_q) {
@@ -189,6 +189,15 @@ Quaternion::operator String() const {
return "(" + String::num_real(x, false) + ", " + String::num_real(y, false) + ", " + String::num_real(z, false) + ", " + String::num_real(w, false) + ")";
}
+Vector3 Quaternion::get_axis() const {
+ real_t r = ((real_t)1) / Math::sqrt(1 - w * w);
+ return Vector3(x * r, y * r, z * r);
+}
+
+float Quaternion::get_angle() const {
+ return 2 * Math::acos(w);
+}
+
Quaternion::Quaternion(const Vector3 &p_axis, real_t p_angle) {
#ifdef MATH_CHECKS
ERR_FAIL_COND_MSG(!p_axis.is_normalized(), "The axis Vector3 must be normalized.");
diff --git a/core/math/quaternion.h b/core/math/quaternion.h
index 35324323b3..457d167516 100644
--- a/core/math/quaternion.h
+++ b/core/math/quaternion.h
@@ -72,6 +72,9 @@ public:
Quaternion slerpni(const Quaternion &p_to, const real_t &p_weight) const;
Quaternion cubic_slerp(const Quaternion &p_b, const Quaternion &p_pre_a, const Quaternion &p_post_b, const real_t &p_weight) const;
+ Vector3 get_axis() const;
+ float get_angle() const;
+
_FORCE_INLINE_ void get_axis_angle(Vector3 &r_axis, real_t &r_angle) const {
r_angle = 2 * Math::acos(w);
real_t r = ((real_t)1) / Math::sqrt(1 - w * w);
@@ -83,13 +86,6 @@ public:
void operator*=(const Quaternion &p_q);
Quaternion operator*(const Quaternion &p_q) const;
- Quaternion operator*(const Vector3 &v) const {
- return Quaternion(w * v.x + y * v.z - z * v.y,
- w * v.y + z * v.x - x * v.z,
- w * v.z + x * v.y - y * v.x,
- -x * v.x - y * v.y - z * v.z);
- }
-
_FORCE_INLINE_ Vector3 xform(const Vector3 &v) const {
#ifdef MATH_CHECKS
ERR_FAIL_COND_V_MSG(!is_normalized(), v, "The quaternion must be normalized.");
@@ -138,12 +134,11 @@ public:
w(p_q.w) {
}
- Quaternion &operator=(const Quaternion &p_q) {
+ void operator=(const Quaternion &p_q) {
x = p_q.x;
y = p_q.y;
z = p_q.z;
w = p_q.w;
- return *this;
}
Quaternion(const Vector3 &v0, const Vector3 &v1) // shortest arc
diff --git a/core/math/quick_hull.cpp b/core/math/quick_hull.cpp
index 0960fe19a6..d438a9a377 100644
--- a/core/math/quick_hull.cpp
+++ b/core/math/quick_hull.cpp
@@ -265,8 +265,8 @@ Error QuickHull::build(const Vector<Vector3> &p_points, Geometry3D::MeshData &r_
//create new faces from horizon edges
List<List<Face>::Element *> new_faces; //new faces
- for (Map<Edge, FaceConnect>::Element *E = lit_edges.front(); E; E = E->next()) {
- FaceConnect &fc = E->get();
+ for (KeyValue<Edge, FaceConnect> &E : lit_edges) {
+ FaceConnect &fc = E.value;
if (fc.left && fc.right) {
continue; //edge is uninteresting, not on horizon
}
@@ -275,8 +275,8 @@ Error QuickHull::build(const Vector<Vector3> &p_points, Geometry3D::MeshData &r_
Face face;
face.vertices[0] = f.points_over[next];
- face.vertices[1] = E->key().vertices[0];
- face.vertices[2] = E->key().vertices[1];
+ face.vertices[1] = E.key.vertices[0];
+ face.vertices[2] = E.key.vertices[1];
Plane p(p_points[face.vertices[0]], p_points[face.vertices[1]], p_points[face.vertices[2]]);
@@ -418,13 +418,13 @@ Error QuickHull::build(const Vector<Vector3> &p_points, Geometry3D::MeshData &r_
}
// remove all edge connections to this face
- for (Map<Edge, RetFaceConnect>::Element *G = ret_edges.front(); G; G = G->next()) {
- if (G->get().left == O) {
- G->get().left = nullptr;
+ for (KeyValue<Edge, RetFaceConnect> &G : ret_edges) {
+ if (G.value.left == O) {
+ G.value.left = nullptr;
}
- if (G->get().right == O) {
- G->get().right = nullptr;
+ if (G.value.right == O) {
+ G.value.right = nullptr;
}
}
@@ -444,10 +444,10 @@ Error QuickHull::build(const Vector<Vector3> &p_points, Geometry3D::MeshData &r_
}
r_mesh.edges.resize(ret_edges.size());
idx = 0;
- for (Map<Edge, RetFaceConnect>::Element *E = ret_edges.front(); E; E = E->next()) {
+ for (const KeyValue<Edge, RetFaceConnect> &E : ret_edges) {
Geometry3D::MeshData::Edge e;
- e.a = E->key().vertices[0];
- e.b = E->key().vertices[1];
+ e.a = E.key.vertices[0];
+ e.b = E.key.vertices[1];
r_mesh.edges.write[idx++] = e;
}
diff --git a/core/math/rect2.cpp b/core/math/rect2.cpp
index f64bf560c8..0e6127b017 100644
--- a/core/math/rect2.cpp
+++ b/core/math/rect2.cpp
@@ -35,6 +35,11 @@ bool Rect2::is_equal_approx(const Rect2 &p_rect) const {
}
bool Rect2::intersects_segment(const Point2 &p_from, const Point2 &p_to, Point2 *r_pos, Point2 *r_normal) const {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0)) {
+ ERR_PRINT("Rect2 size is negative, this is not supported. Use Rect2.abs() to get a Rect2 with a positive size.");
+ }
+#endif
real_t min = 0, max = 1;
int axis = 0;
real_t sign = 0;
@@ -95,6 +100,11 @@ bool Rect2::intersects_segment(const Point2 &p_from, const Point2 &p_to, Point2
}
bool Rect2::intersects_transformed(const Transform2D &p_xform, const Rect2 &p_rect) const {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0 || p_rect.size.x < 0 || p_rect.size.y < 0)) {
+ ERR_PRINT("Rect2 size is negative, this is not supported. Use Rect2.abs() to get a Rect2 with a positive size.");
+ }
+#endif
//SAT intersection between local and transformed rect2
Vector2 xf_points[4] = {
diff --git a/core/math/rect2.h b/core/math/rect2.h
index ab0b489b4a..7029204cf1 100644
--- a/core/math/rect2.h
+++ b/core/math/rect2.h
@@ -46,7 +46,14 @@ struct Rect2 {
real_t get_area() const { return size.width * size.height; }
+ _FORCE_INLINE_ Vector2 get_center() const { return position + (size * 0.5); }
+
inline bool intersects(const Rect2 &p_rect, const bool p_include_borders = false) const {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0 || p_rect.size.x < 0 || p_rect.size.y < 0)) {
+ ERR_PRINT("Rect2 size is negative, this is not supported. Use Rect2.abs() to get a Rect2 with a positive size.");
+ }
+#endif
if (p_include_borders) {
if (position.x > (p_rect.position.x + p_rect.size.width)) {
return false;
@@ -79,6 +86,11 @@ struct Rect2 {
}
inline real_t distance_to(const Vector2 &p_point) const {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0)) {
+ ERR_PRINT("Rect2 size is negative, this is not supported. Use Rect2.abs() to get a Rect2 with a positive size.");
+ }
+#endif
real_t dist = 0.0;
bool inside = true;
@@ -115,9 +127,14 @@ struct Rect2 {
bool intersects_segment(const Point2 &p_from, const Point2 &p_to, Point2 *r_pos = nullptr, Point2 *r_normal = nullptr) const;
inline bool encloses(const Rect2 &p_rect) const {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0 || p_rect.size.x < 0 || p_rect.size.y < 0)) {
+ ERR_PRINT("Rect2 size is negative, this is not supported. Use Rect2.abs() to get a Rect2 with a positive size.");
+ }
+#endif
return (p_rect.position.x >= position.x) && (p_rect.position.y >= position.y) &&
- ((p_rect.position.x + p_rect.size.x) <= (position.x + size.x)) &&
- ((p_rect.position.y + p_rect.size.y) <= (position.y + size.y));
+ ((p_rect.position.x + p_rect.size.x) <= (position.x + size.x)) &&
+ ((p_rect.position.y + p_rect.size.y) <= (position.y + size.y));
}
_FORCE_INLINE_ bool has_no_area() const {
@@ -145,7 +162,11 @@ struct Rect2 {
}
inline Rect2 merge(const Rect2 &p_rect) const { ///< return a merged rect
-
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0 || p_rect.size.x < 0 || p_rect.size.y < 0)) {
+ ERR_PRINT("Rect2 size is negative, this is not supported. Use Rect2.abs() to get a Rect2 with a positive size.");
+ }
+#endif
Rect2 new_rect;
new_rect.position.x = MIN(p_rect.position.x, position.x);
@@ -159,6 +180,11 @@ struct Rect2 {
return new_rect;
}
inline bool has_point(const Point2 &p_point) const {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0)) {
+ ERR_PRINT("Rect2 size is negative, this is not supported. Use Rect2.abs() to get a Rect2 with a positive size.");
+ }
+#endif
if (p_point.x < position.x) {
return false;
}
@@ -181,6 +207,11 @@ struct Rect2 {
bool operator!=(const Rect2 &p_rect) const { return position != p_rect.position || size != p_rect.size; }
inline Rect2 grow(real_t p_amount) const {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0)) {
+ ERR_PRINT("Rect2 size is negative, this is not supported. Use Rect2.abs() to get a Rect2 with a positive size.");
+ }
+#endif
Rect2 g = *this;
g.grow_by(p_amount);
return g;
@@ -207,6 +238,11 @@ struct Rect2 {
}
inline Rect2 grow_individual(real_t p_left, real_t p_top, real_t p_right, real_t p_bottom) const {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0)) {
+ ERR_PRINT("Rect2 size is negative, this is not supported. Use Rect2.abs() to get a Rect2 with a positive size.");
+ }
+#endif
Rect2 g = *this;
g.position.x -= p_left;
g.position.y -= p_top;
@@ -223,7 +259,11 @@ struct Rect2 {
}
inline void expand_to(const Vector2 &p_vector) { //in place function for speed
-
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0)) {
+ ERR_PRINT("Rect2 size is negative, this is not supported. Use Rect2.abs() to get a Rect2 with a positive size.");
+ }
+#endif
Vector2 begin = position;
Vector2 end = position + size;
@@ -255,11 +295,11 @@ struct Rect2 {
return Vector2(
(p_normal.x > 0) ? -half_extents.x : half_extents.x,
(p_normal.y > 0) ? -half_extents.y : half_extents.y) +
- ofs;
+ ofs;
}
_FORCE_INLINE_ bool intersects_filled_polygon(const Vector2 *p_points, int p_point_count) const {
- Vector2 center = position + size * 0.5;
+ Vector2 center = get_center();
int side_plus = 0;
int side_minus = 0;
Vector2 end = position + size;
@@ -344,7 +384,14 @@ struct Rect2i {
int get_area() const { return size.width * size.height; }
+ _FORCE_INLINE_ Vector2i get_center() const { return position + (size / 2); }
+
inline bool intersects(const Rect2i &p_rect) const {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0 || p_rect.size.x < 0 || p_rect.size.y < 0)) {
+ ERR_PRINT("Rect2i size is negative, this is not supported. Use Rect2i.abs() to get a Rect2i with a positive size.");
+ }
+#endif
if (position.x > (p_rect.position.x + p_rect.size.width)) {
return false;
}
@@ -362,9 +409,14 @@ struct Rect2i {
}
inline bool encloses(const Rect2i &p_rect) const {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0 || p_rect.size.x < 0 || p_rect.size.y < 0)) {
+ ERR_PRINT("Rect2i size is negative, this is not supported. Use Rect2i.abs() to get a Rect2i with a positive size.");
+ }
+#endif
return (p_rect.position.x >= position.x) && (p_rect.position.y >= position.y) &&
- ((p_rect.position.x + p_rect.size.x) < (position.x + size.x)) &&
- ((p_rect.position.y + p_rect.size.y) < (position.y + size.y));
+ ((p_rect.position.x + p_rect.size.x) < (position.x + size.x)) &&
+ ((p_rect.position.y + p_rect.size.y) < (position.y + size.y));
}
_FORCE_INLINE_ bool has_no_area() const {
@@ -385,14 +437,18 @@ struct Rect2i {
Point2i p_rect_end = p_rect.position + p_rect.size;
Point2i end = position + size;
- new_rect.size.x = (int)(MIN(p_rect_end.x, end.x) - new_rect.position.x);
- new_rect.size.y = (int)(MIN(p_rect_end.y, end.y) - new_rect.position.y);
+ new_rect.size.x = MIN(p_rect_end.x, end.x) - new_rect.position.x;
+ new_rect.size.y = MIN(p_rect_end.y, end.y) - new_rect.position.y;
return new_rect;
}
inline Rect2i merge(const Rect2i &p_rect) const { ///< return a merged rect
-
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0 || p_rect.size.x < 0 || p_rect.size.y < 0)) {
+ ERR_PRINT("Rect2i size is negative, this is not supported. Use Rect2i.abs() to get a Rect2i with a positive size.");
+ }
+#endif
Rect2i new_rect;
new_rect.position.x = MIN(p_rect.position.x, position.x);
@@ -406,6 +462,11 @@ struct Rect2i {
return new_rect;
}
bool has_point(const Point2i &p_point) const {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0)) {
+ ERR_PRINT("Rect2i size is negative, this is not supported. Use Rect2i.abs() to get a Rect2i with a positive size.");
+ }
+#endif
if (p_point.x < position.x) {
return false;
}
@@ -427,6 +488,11 @@ struct Rect2i {
bool operator!=(const Rect2i &p_rect) const { return position != p_rect.position || size != p_rect.size; }
Rect2i grow(int p_amount) const {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0)) {
+ ERR_PRINT("Rect2i size is negative, this is not supported. Use Rect2i.abs() to get a Rect2i with a positive size.");
+ }
+#endif
Rect2i g = *this;
g.position.x -= p_amount;
g.position.y -= p_amount;
@@ -449,6 +515,11 @@ struct Rect2i {
}
inline Rect2i grow_individual(int p_left, int p_top, int p_right, int p_bottom) const {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0)) {
+ ERR_PRINT("Rect2i size is negative, this is not supported. Use Rect2i.abs() to get a Rect2i with a positive size.");
+ }
+#endif
Rect2i g = *this;
g.position.x -= p_left;
g.position.y -= p_top;
@@ -465,6 +536,11 @@ struct Rect2i {
}
inline void expand_to(const Point2i &p_vector) {
+#ifdef MATH_CHECKS
+ if (unlikely(size.x < 0 || size.y < 0)) {
+ ERR_PRINT("Rect2i size is negative, this is not supported. Use Rect2i.abs() to get a Rect2i with a positive size.");
+ }
+#endif
Point2i begin = position;
Point2i end = position + size;
diff --git a/core/math/static_raycaster.cpp b/core/math/static_raycaster.cpp
new file mode 100644
index 0000000000..da05d49428
--- /dev/null
+++ b/core/math/static_raycaster.cpp
@@ -0,0 +1,40 @@
+/*************************************************************************/
+/* static_raycaster.cpp */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 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 */
+/* "Software"), to deal in the Software without restriction, including */
+/* without limitation the rights to use, copy, modify, merge, publish, */
+/* distribute, sublicense, and/or sell copies of the Software, and to */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions: */
+/* */
+/* The above copyright notice and this permission notice shall be */
+/* included in all copies or substantial portions of the Software. */
+/* */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
+/*************************************************************************/
+
+#include "static_raycaster.h"
+
+StaticRaycaster *(*StaticRaycaster::create_function)() = nullptr;
+
+Ref<StaticRaycaster> StaticRaycaster::create() {
+ if (create_function) {
+ return Ref<StaticRaycaster>(create_function());
+ }
+ return Ref<StaticRaycaster>();
+}
diff --git a/core/math/static_raycaster.h b/core/math/static_raycaster.h
new file mode 100644
index 0000000000..3759c788a7
--- /dev/null
+++ b/core/math/static_raycaster.h
@@ -0,0 +1,111 @@
+/*************************************************************************/
+/* static_raycaster.h */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 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 */
+/* "Software"), to deal in the Software without restriction, including */
+/* without limitation the rights to use, copy, modify, merge, publish, */
+/* distribute, sublicense, and/or sell copies of the Software, and to */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions: */
+/* */
+/* The above copyright notice and this permission notice shall be */
+/* included in all copies or substantial portions of the Software. */
+/* */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
+/*************************************************************************/
+
+#ifndef STATIC_RAYCASTER_H
+#define STATIC_RAYCASTER_H
+
+#include "core/object/ref_counted.h"
+
+#if !defined(__aligned)
+
+#if defined(_WIN32) && defined(_MSC_VER)
+#define __aligned(...) __declspec(align(__VA_ARGS__))
+#else
+#define __aligned(...) __attribute__((aligned(__VA_ARGS__)))
+#endif
+
+#endif
+
+class StaticRaycaster : public RefCounted {
+ GDCLASS(StaticRaycaster, RefCounted)
+protected:
+ static StaticRaycaster *(*create_function)();
+
+public:
+ // compatible with embree3 rays
+ struct __aligned(16) Ray {
+ const static unsigned int INVALID_GEOMETRY_ID = ((unsigned int)-1); // from rtcore_common.h
+
+ /*! Default construction does nothing. */
+ _FORCE_INLINE_ Ray() :
+ geomID(INVALID_GEOMETRY_ID) {}
+
+ /*! Constructs a ray from origin, direction, and ray segment. Near
+ * has to be smaller than far. */
+ _FORCE_INLINE_ Ray(const Vector3 &org,
+ const Vector3 &dir,
+ float tnear = 0.0f,
+ float tfar = INFINITY) :
+ org(org),
+ tnear(tnear),
+ dir(dir),
+ time(0.0f),
+ tfar(tfar),
+ mask(-1),
+ u(0.0),
+ v(0.0),
+ primID(INVALID_GEOMETRY_ID),
+ geomID(INVALID_GEOMETRY_ID),
+ instID(INVALID_GEOMETRY_ID) {}
+
+ /*! Tests if we hit something. */
+ _FORCE_INLINE_ explicit operator bool() const { return geomID != INVALID_GEOMETRY_ID; }
+
+ public:
+ Vector3 org; //!< Ray origin + tnear
+ float tnear; //!< Start of ray segment
+ Vector3 dir; //!< Ray direction + tfar
+ float time; //!< Time of this ray for motion blur.
+ float tfar; //!< End of ray segment
+ unsigned int mask; //!< used to mask out objects during traversal
+ unsigned int id; //!< ray ID
+ unsigned int flags; //!< ray flags
+
+ Vector3 normal; //!< Not normalized geometry normal
+ float u; //!< Barycentric u coordinate of hit
+ float v; //!< Barycentric v coordinate of hit
+ unsigned int primID; //!< primitive ID
+ unsigned int geomID; //!< geometry ID
+ unsigned int instID; //!< instance ID
+ };
+
+ virtual bool intersect(Ray &p_ray) = 0;
+ virtual void intersect(Vector<Ray> &r_rays) = 0;
+
+ virtual void add_mesh(const PackedVector3Array &p_vertices, const PackedInt32Array &p_indices, unsigned int p_id) = 0;
+ virtual void commit() = 0;
+
+ virtual void set_mesh_filter(const Set<int> &p_mesh_ids) = 0;
+ virtual void clear_mesh_filter() = 0;
+
+ static Ref<StaticRaycaster> create();
+};
+
+#endif // STATIC_RAYCASTER_H
diff --git a/core/math/transform_2d.cpp b/core/math/transform_2d.cpp
index 16934d67df..4bdeaa2a58 100644
--- a/core/math/transform_2d.cpp
+++ b/core/math/transform_2d.cpp
@@ -63,25 +63,25 @@ Transform2D Transform2D::affine_inverse() const {
return inv;
}
-void Transform2D::rotate(real_t p_phi) {
+void Transform2D::rotate(const real_t p_phi) {
*this = Transform2D(p_phi, Vector2()) * (*this);
}
real_t Transform2D::get_skew() const {
real_t det = basis_determinant();
- return Math::acos(elements[0].normalized().dot(SGN(det) * elements[1].normalized())) - Math_PI * 0.5;
+ return Math::acos(elements[0].normalized().dot(SIGN(det) * elements[1].normalized())) - Math_PI * 0.5;
}
-void Transform2D::set_skew(float p_angle) {
+void Transform2D::set_skew(const real_t p_angle) {
real_t det = basis_determinant();
- elements[1] = SGN(det) * elements[0].rotated((Math_PI * 0.5 + p_angle)).normalized() * elements[1].length();
+ elements[1] = SIGN(det) * elements[0].rotated((Math_PI * 0.5 + p_angle)).normalized() * elements[1].length();
}
real_t Transform2D::get_rotation() const {
return Math::atan2(elements[0].y, elements[0].x);
}
-void Transform2D::set_rotation(real_t p_rot) {
+void Transform2D::set_rotation(const real_t p_rot) {
Size2 scale = get_scale();
real_t cr = Math::cos(p_rot);
real_t sr = Math::sin(p_rot);
@@ -92,7 +92,7 @@ void Transform2D::set_rotation(real_t p_rot) {
set_scale(scale);
}
-Transform2D::Transform2D(real_t p_rot, const Vector2 &p_pos) {
+Transform2D::Transform2D(const real_t p_rot, const Vector2 &p_pos) {
real_t cr = Math::cos(p_rot);
real_t sr = Math::sin(p_rot);
elements[0][0] = cr;
@@ -102,8 +102,16 @@ Transform2D::Transform2D(real_t p_rot, const Vector2 &p_pos) {
elements[2] = p_pos;
}
+Transform2D::Transform2D(const real_t p_rot, const Size2 &p_scale, const real_t p_skew, const Vector2 &p_pos) {
+ elements[0][0] = Math::cos(p_rot) * p_scale.x;
+ elements[1][1] = Math::cos(p_rot + p_skew) * p_scale.y;
+ elements[1][0] = -Math::sin(p_rot + p_skew) * p_scale.y;
+ elements[0][1] = Math::sin(p_rot) * p_scale.x;
+ elements[2] = p_pos;
+}
+
Size2 Transform2D::get_scale() const {
- real_t det_sign = SGN(basis_determinant());
+ real_t det_sign = SIGN(basis_determinant());
return Size2(elements[0].length(), det_sign * elements[1].length());
}
@@ -126,7 +134,7 @@ void Transform2D::scale_basis(const Size2 &p_scale) {
elements[1][1] *= p_scale.y;
}
-void Transform2D::translate(real_t p_tx, real_t p_ty) {
+void Transform2D::translate(const real_t p_tx, const real_t p_ty) {
translate(Vector2(p_tx, p_ty));
}
@@ -231,7 +239,7 @@ Transform2D Transform2D::translated(const Vector2 &p_offset) const {
return copy;
}
-Transform2D Transform2D::rotated(real_t p_phi) const {
+Transform2D Transform2D::rotated(const real_t p_phi) const {
Transform2D copy = *this;
copy.rotate(p_phi);
return copy;
@@ -241,7 +249,7 @@ real_t Transform2D::basis_determinant() const {
return elements[0].x * elements[1].y - elements[0].y * elements[1].x;
}
-Transform2D Transform2D::interpolate_with(const Transform2D &p_transform, real_t p_c) const {
+Transform2D Transform2D::interpolate_with(const Transform2D &p_transform, const real_t p_c) const {
//extract parameters
Vector2 p1 = get_origin();
Vector2 p2 = p_transform.get_origin();
@@ -271,7 +279,7 @@ Transform2D Transform2D::interpolate_with(const Transform2D &p_transform, real_t
}
//construct matrix
- Transform2D res(Math::atan2(v.y, v.x), p1.lerp(p2, p_c));
+ Transform2D res(v.angle(), p1.lerp(p2, p_c));
res.scale_basis(s1.lerp(s2, p_c));
return res;
}
@@ -290,6 +298,6 @@ Transform2D Transform2D::operator*(const real_t p_val) const {
Transform2D::operator String() const {
return "[X: " + elements[0].operator String() +
- ", Y: " + elements[1].operator String() +
- ", O: " + elements[2].operator String() + "]";
+ ", Y: " + elements[1].operator String() +
+ ", O: " + elements[2].operator String() + "]";
}
diff --git a/core/math/transform_2d.h b/core/math/transform_2d.h
index 34cfd0c1a9..8a0e876d96 100644
--- a/core/math/transform_2d.h
+++ b/core/math/transform_2d.h
@@ -68,17 +68,17 @@ struct Transform2D {
void affine_invert();
Transform2D affine_inverse() const;
- void set_rotation(real_t p_rot);
+ void set_rotation(const real_t p_rot);
real_t get_rotation() const;
real_t get_skew() const;
- void set_skew(float p_angle);
- _FORCE_INLINE_ void set_rotation_and_scale(real_t p_rot, const Size2 &p_scale);
- _FORCE_INLINE_ void set_rotation_scale_and_skew(real_t p_rot, const Size2 &p_scale, float p_skew);
- void rotate(real_t p_phi);
+ void set_skew(const real_t p_angle);
+ _FORCE_INLINE_ void set_rotation_and_scale(const real_t p_rot, const Size2 &p_scale);
+ _FORCE_INLINE_ void set_rotation_scale_and_skew(const real_t p_rot, const Size2 &p_scale, const real_t p_skew);
+ void rotate(const real_t p_phi);
void scale(const Size2 &p_scale);
void scale_basis(const Size2 &p_scale);
- void translate(real_t p_tx, real_t p_ty);
+ void translate(const real_t p_tx, const real_t p_ty);
void translate(const Vector2 &p_translation);
real_t basis_determinant() const;
@@ -92,7 +92,7 @@ struct Transform2D {
Transform2D scaled(const Size2 &p_scale) const;
Transform2D basis_scaled(const Size2 &p_scale) const;
Transform2D translated(const Vector2 &p_offset) const;
- Transform2D rotated(real_t p_phi) const;
+ Transform2D rotated(const real_t p_phi) const;
Transform2D untranslated() const;
@@ -110,7 +110,7 @@ struct Transform2D {
void operator*=(const real_t p_val);
Transform2D operator*(const real_t p_val) const;
- Transform2D interpolate_with(const Transform2D &p_transform, real_t p_c) const;
+ Transform2D interpolate_with(const Transform2D &p_transform, const real_t p_c) const;
_FORCE_INLINE_ Vector2 basis_xform(const Vector2 &p_vec) const;
_FORCE_INLINE_ Vector2 basis_xform_inv(const Vector2 &p_vec) const;
@@ -123,7 +123,7 @@ struct Transform2D {
operator String() const;
- Transform2D(real_t xx, real_t xy, real_t yx, real_t yy, real_t ox, real_t oy) {
+ Transform2D(const real_t xx, const real_t xy, const real_t yx, const real_t yy, const real_t ox, const real_t oy) {
elements[0][0] = xx;
elements[0][1] = xy;
elements[1][0] = yx;
@@ -138,7 +138,10 @@ struct Transform2D {
elements[2] = p_origin;
}
- Transform2D(real_t p_rot, const Vector2 &p_pos);
+ Transform2D(const real_t p_rot, const Vector2 &p_pos);
+
+ Transform2D(const real_t p_rot, const Size2 &p_scale, const real_t p_skew, const Vector2 &p_pos);
+
Transform2D() {
elements[0][0] = 1.0;
elements[1][1] = 1.0;
@@ -161,7 +164,7 @@ Vector2 Transform2D::xform(const Vector2 &p_vec) const {
return Vector2(
tdotx(p_vec),
tdoty(p_vec)) +
- elements[2];
+ elements[2];
}
Vector2 Transform2D::xform_inv(const Vector2 &p_vec) const {
@@ -185,14 +188,14 @@ Rect2 Transform2D::xform(const Rect2 &p_rect) const {
return new_rect;
}
-void Transform2D::set_rotation_and_scale(real_t p_rot, const Size2 &p_scale) {
+void Transform2D::set_rotation_and_scale(const real_t p_rot, const Size2 &p_scale) {
elements[0][0] = Math::cos(p_rot) * p_scale.x;
elements[1][1] = Math::cos(p_rot) * p_scale.y;
elements[1][0] = -Math::sin(p_rot) * p_scale.y;
elements[0][1] = Math::sin(p_rot) * p_scale.x;
}
-void Transform2D::set_rotation_scale_and_skew(real_t p_rot, const Size2 &p_scale, float p_skew) {
+void Transform2D::set_rotation_scale_and_skew(const real_t p_rot, const Size2 &p_scale, const real_t p_skew) {
elements[0][0] = Math::cos(p_rot) * p_scale.x;
elements[1][1] = Math::cos(p_rot + p_skew) * p_scale.y;
elements[1][0] = -Math::sin(p_rot + p_skew) * p_scale.y;
diff --git a/core/math/transform_3d.cpp b/core/math/transform_3d.cpp
index 4f4943c8ef..78ef117443 100644
--- a/core/math/transform_3d.cpp
+++ b/core/math/transform_3d.cpp
@@ -175,9 +175,9 @@ Transform3D Transform3D::operator*(const real_t p_val) const {
Transform3D::operator String() const {
return "[X: " + basis.get_axis(0).operator String() +
- ", Y: " + basis.get_axis(1).operator String() +
- ", Z: " + basis.get_axis(2).operator String() +
- ", O: " + origin.operator String() + "]";
+ ", Y: " + basis.get_axis(1).operator String() +
+ ", Z: " + basis.get_axis(2).operator String() +
+ ", O: " + origin.operator String() + "]";
}
Transform3D::Transform3D(const Basis &p_basis, const Vector3 &p_origin) :
diff --git a/core/math/triangle_mesh.cpp b/core/math/triangle_mesh.cpp
index bf06c848c5..2f3da0b6a8 100644
--- a/core/math/triangle_mesh.cpp
+++ b/core/math/triangle_mesh.cpp
@@ -76,7 +76,7 @@ int TriangleMesh::_create_bvh(BVH *p_bvh, BVH **p_bb, int p_from, int p_size, in
int index = r_max_alloc++;
BVH *_new = &p_bvh[index];
_new->aabb = aabb;
- _new->center = aabb.position + aabb.size * 0.5;
+ _new->center = aabb.get_center();
_new->face_index = -1;
_new->left = left;
_new->right = right;
@@ -152,13 +152,13 @@ void TriangleMesh::create(const Vector<Vector3> &p_faces) {
bw[i].left = -1;
bw[i].right = -1;
bw[i].face_index = i;
- bw[i].center = bw[i].aabb.position + bw[i].aabb.size * 0.5;
+ bw[i].center = bw[i].aabb.get_center();
}
vertices.resize(db.size());
Vector3 *vw = vertices.ptrw();
- for (Map<Vector3, int>::Element *E = db.front(); E; E = E->next()) {
- vw[E->get()] = E->key();
+ for (const KeyValue<Vector3, int> &E : db) {
+ vw[E.value] = E.key;
}
}
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/triangulate.cpp b/core/math/triangulate.cpp
index fa1588dbc5..28f1d96b14 100644
--- a/core/math/triangulate.cpp
+++ b/core/math/triangulate.cpp
@@ -42,18 +42,13 @@ real_t Triangulate::get_area(const Vector<Vector2> &contour) {
return A * 0.5;
}
-/*
- is_inside_triangle decides if a point P is Inside of the triangle
- defined by A, B, C.
- */
-
+/* `is_inside_triangle` decides if a point P is inside the triangle
+ * defined by A, B, C. */
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,
- bool include_edges)
-
-{
+ bool include_edges) {
real_t ax, ay, bx, by, cx, cy, apx, apy, bpx, bpy, cpx, cpy;
real_t cCROSSap, bCROSScp, aCROSSbp;
diff --git a/core/math/vector2.cpp b/core/math/vector2.cpp
index 54abc1b7f2..718e94eee4 100644
--- a/core/math/vector2.cpp
+++ b/core/math/vector2.cpp
@@ -34,6 +34,10 @@ real_t Vector2::angle() const {
return Math::atan2(y, x);
}
+Vector2 Vector2::from_angle(const real_t p_angle) {
+ return Vector2(Math::cos(p_angle), Math::sin(p_angle));
+}
+
real_t Vector2::length() const {
return Math::sqrt(x * x + y * y);
}
@@ -75,7 +79,7 @@ real_t Vector2::angle_to(const Vector2 &p_vector2) const {
}
real_t Vector2::angle_to_point(const Vector2 &p_vector2) const {
- return Math::atan2(y - p_vector2.y, x - p_vector2.x);
+ return (p_vector2 - *this).angle();
}
real_t Vector2::dot(const Vector2 &p_other) const {
@@ -87,7 +91,7 @@ real_t Vector2::cross(const Vector2 &p_other) const {
}
Vector2 Vector2::sign() const {
- return Vector2(SGN(x), SGN(y));
+ return Vector2(SIGN(x), SIGN(y));
}
Vector2 Vector2::floor() const {
@@ -156,10 +160,11 @@ Vector2 Vector2::cubic_interpolate(const Vector2 &p_b, const Vector2 &p_pre_a, c
real_t t3 = t2 * t;
Vector2 out;
- out = 0.5 * ((p1 * 2.0) +
- (-p0 + p2) * t +
- (2.0 * p0 - 5.0 * p1 + 4 * p2 - p3) * t2 +
- (-p0 + 3.0 * p1 - 3.0 * p2 + p3) * t3);
+ out = 0.5 *
+ ((p1 * 2.0) +
+ (-p0 + p2) * t +
+ (2.0 * p0 - 5.0 * p1 + 4 * p2 - p3) * t2 +
+ (-p0 + 3.0 * p1 - 3.0 * p2 + p3) * t3);
return out;
}
diff --git a/core/math/vector2.h b/core/math/vector2.h
index 330b4741b1..c0a189e040 100644
--- a/core/math/vector2.h
+++ b/core/math/vector2.h
@@ -70,12 +70,12 @@ struct Vector2 {
x = y = p_value;
}
- _FORCE_INLINE_ int min_axis() const {
- return x < y ? 0 : 1;
+ _FORCE_INLINE_ Vector2::Axis min_axis_index() const {
+ return x < y ? Vector2::AXIS_X : Vector2::AXIS_Y;
}
- _FORCE_INLINE_ int max_axis() const {
- return x < y ? 1 : 0;
+ _FORCE_INLINE_ Vector2::Axis max_axis_index() const {
+ return x < y ? Vector2::AXIS_Y : Vector2::AXIS_X;
}
void normalize();
@@ -147,6 +147,7 @@ struct Vector2 {
bool operator>=(const Vector2 &p_vec2) const { return x == p_vec2.x ? (y >= p_vec2.y) : (x > p_vec2.x); }
real_t angle() const;
+ static Vector2 from_angle(const real_t p_angle);
_FORCE_INLINE_ Vector2 abs() const {
return Vector2(Math::abs(x), Math::abs(y));
@@ -300,12 +301,12 @@ struct Vector2i {
return p_idx ? y : x;
}
- _FORCE_INLINE_ int min_axis() const {
- return x < y ? 0 : 1;
+ _FORCE_INLINE_ Vector2i::Axis min_axis_index() const {
+ return x < y ? Vector2i::AXIS_X : Vector2i::AXIS_Y;
}
- _FORCE_INLINE_ int max_axis() const {
- return x < y ? 1 : 0;
+ _FORCE_INLINE_ Vector2i::Axis max_axis_index() const {
+ return x < y ? Vector2i::AXIS_Y : Vector2i::AXIS_X;
}
Vector2i min(const Vector2i &p_vector2i) const {
@@ -344,7 +345,7 @@ struct Vector2i {
bool operator!=(const Vector2i &p_vec2) const;
real_t aspect() const { return width / (real_t)height; }
- Vector2i sign() const { return Vector2i(SGN(x), SGN(y)); }
+ Vector2i sign() const { return Vector2i(SIGN(x), SIGN(y)); }
Vector2i abs() const { return Vector2i(ABS(x), ABS(y)); }
Vector2i clamp(const Vector2i &p_min, const Vector2i &p_max) const;
diff --git a/core/math/vector3.cpp b/core/math/vector3.cpp
index 401c3ccd9c..b9bd04b8c1 100644
--- a/core/math/vector3.cpp
+++ b/core/math/vector3.cpp
@@ -93,10 +93,11 @@ Vector3 Vector3::cubic_interpolate(const Vector3 &p_b, const Vector3 &p_pre_a, c
real_t t3 = t2 * t;
Vector3 out;
- out = 0.5 * ((p1 * 2.0) +
- (-p0 + p2) * t +
- (2.0 * p0 - 5.0 * p1 + 4.0 * p2 - p3) * t2 +
- (-p0 + 3.0 * p1 - 3.0 * p2 + p3) * t3);
+ out = 0.5 *
+ ((p1 * 2.0) +
+ (-p0 + p2) * t +
+ (2.0 * p0 - 5.0 * p1 + 4.0 * p2 - p3) * t2 +
+ (-p0 + 3.0 * p1 - 3.0 * p2 + p3) * t3);
return out;
}
@@ -107,20 +108,14 @@ Vector3 Vector3::move_toward(const Vector3 &p_to, const real_t p_delta) const {
return len <= p_delta || len < CMP_EPSILON ? p_to : v + vd / len * p_delta;
}
-Basis Vector3::outer(const Vector3 &p_b) const {
- Vector3 row0(x * p_b.x, x * p_b.y, x * p_b.z);
- Vector3 row1(y * p_b.x, y * p_b.y, y * p_b.z);
- Vector3 row2(z * p_b.x, z * p_b.y, z * p_b.z);
+Basis Vector3::outer(const Vector3 &p_with) const {
+ Vector3 row0(x * p_with.x, x * p_with.y, x * p_with.z);
+ Vector3 row1(y * p_with.x, y * p_with.y, y * p_with.z);
+ Vector3 row2(z * p_with.x, z * p_with.y, z * p_with.z);
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..c0f80e8f11 100644
--- a/core/math/vector3.h
+++ b/core/math/vector3.h
@@ -32,9 +32,9 @@
#define VECTOR3_H
#include "core/math/math_funcs.h"
+#include "core/math/vector2.h"
#include "core/math/vector3i.h"
#include "core/string/ustring.h"
-
class Basis;
struct Vector3 {
@@ -71,12 +71,12 @@ struct Vector3 {
x = y = z = p_value;
}
- _FORCE_INLINE_ int min_axis() const {
- return x < y ? (x < z ? 0 : 2) : (y < z ? 1 : 2);
+ _FORCE_INLINE_ Vector3::Axis min_axis_index() const {
+ return x < y ? (x < z ? Vector3::AXIS_X : Vector3::AXIS_Z) : (y < z ? Vector3::AXIS_Y : Vector3::AXIS_Z);
}
- _FORCE_INLINE_ int max_axis() const {
- return x < y ? (y < z ? 2 : 1) : (x < z ? 2 : 0);
+ _FORCE_INLINE_ Vector3::Axis max_axis_index() const {
+ return x < y ? (y < z ? Vector3::AXIS_Z : Vector3::AXIS_Y) : (x < z ? Vector3::AXIS_Z : Vector3::AXIS_X);
}
_FORCE_INLINE_ real_t length() const;
@@ -103,10 +103,34 @@ struct Vector3 {
Vector3 cubic_interpolate(const Vector3 &p_b, const Vector3 &p_pre_a, const Vector3 &p_post_b, const real_t p_weight) const;
Vector3 move_toward(const Vector3 &p_to, const real_t p_delta) const;
- _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_ Vector2 octahedron_encode() const {
+ Vector3 n = *this;
+ n /= Math::abs(n.x) + Math::abs(n.y) + Math::abs(n.z);
+ Vector2 o;
+ if (n.z >= 0.0) {
+ o.x = n.x;
+ o.y = n.y;
+ } else {
+ o.x = (1.0 - Math::abs(n.y)) * (n.x >= 0.0 ? 1.0 : -1.0);
+ o.y = (1.0 - Math::abs(n.x)) * (n.y >= 0.0 ? 1.0 : -1.0);
+ }
+ o.x = o.x * 0.5 + 0.5;
+ o.y = o.y * 0.5 + 0.5;
+ return o;
+ }
+
+ static _FORCE_INLINE_ Vector3 octahedron_decode(const Vector2 &p_oct) {
+ Vector2 f(p_oct.x * 2.0 - 1.0, p_oct.y * 2.0 - 1.0);
+ Vector3 n(f.x, f.y, 1.0f - Math::abs(f.x) - Math::abs(f.y));
+ float t = CLAMP(-n.z, 0.0, 1.0);
+ n.x += n.x >= 0 ? -t : t;
+ n.y += n.y >= 0 ? -t : t;
+ return n.normalized();
+ }
+
+ _FORCE_INLINE_ Vector3 cross(const Vector3 &p_with) const;
+ _FORCE_INLINE_ real_t dot(const Vector3 &p_with) const;
+ Basis outer(const Vector3 &p_with) const;
_FORCE_INLINE_ Vector3 abs() const;
_FORCE_INLINE_ Vector3 floor() const;
@@ -175,17 +199,17 @@ struct Vector3 {
}
};
-Vector3 Vector3::cross(const Vector3 &p_b) const {
+Vector3 Vector3::cross(const Vector3 &p_with) const {
Vector3 ret(
- (y * p_b.z) - (z * p_b.y),
- (z * p_b.x) - (x * p_b.z),
- (x * p_b.y) - (y * p_b.x));
+ (y * p_with.z) - (z * p_with.y),
+ (z * p_with.x) - (x * p_with.z),
+ (x * p_with.y) - (y * p_with.x));
return ret;
}
-real_t Vector3::dot(const Vector3 &p_b) const {
- return x * p_b.x + y * p_b.y + z * p_b.z;
+real_t Vector3::dot(const Vector3 &p_with) const {
+ return x * p_with.x + y * p_with.y + z * p_with.z;
}
Vector3 Vector3::abs() const {
@@ -193,7 +217,7 @@ Vector3 Vector3::abs() const {
}
Vector3 Vector3::sign() const {
- return Vector3(SGN(x), SGN(y), SGN(z));
+ return Vector3(SIGN(x), SIGN(y), SIGN(z));
}
Vector3 Vector3::floor() const {
diff --git a/core/math/vector3i.cpp b/core/math/vector3i.cpp
index d3a57af77c..7812a0b41c 100644
--- a/core/math/vector3i.cpp
+++ b/core/math/vector3i.cpp
@@ -40,12 +40,12 @@ int32_t Vector3i::get_axis(const int p_axis) const {
return operator[](p_axis);
}
-int Vector3i::min_axis() const {
- return x < y ? (x < z ? 0 : 2) : (y < z ? 1 : 2);
+Vector3i::Axis Vector3i::min_axis_index() const {
+ return x < y ? (x < z ? Vector3i::AXIS_X : Vector3i::AXIS_Z) : (y < z ? Vector3i::AXIS_Y : Vector3i::AXIS_Z);
}
-int Vector3i::max_axis() const {
- return x < y ? (y < z ? 2 : 1) : (x < z ? 2 : 0);
+Vector3i::Axis Vector3i::max_axis_index() const {
+ return x < y ? (y < z ? Vector3i::AXIS_Z : Vector3i::AXIS_Y) : (x < z ? Vector3i::AXIS_Z : Vector3i::AXIS_X);
}
Vector3i Vector3i::clamp(const Vector3i &p_min, const Vector3i &p_max) const {
diff --git a/core/math/vector3i.h b/core/math/vector3i.h
index 9308d09045..fba29a1f8d 100644
--- a/core/math/vector3i.h
+++ b/core/math/vector3i.h
@@ -62,8 +62,8 @@ struct Vector3i {
void set_axis(const int p_axis, const int32_t p_value);
int32_t get_axis(const int p_axis) const;
- int min_axis() const;
- int max_axis() const;
+ Vector3i::Axis min_axis_index() const;
+ Vector3i::Axis max_axis_index() const;
_FORCE_INLINE_ void zero();
@@ -115,7 +115,7 @@ Vector3i Vector3i::abs() const {
}
Vector3i Vector3i::sign() const {
- return Vector3i(SGN(x), SGN(y), SGN(z));
+ return Vector3i(SIGN(x), SIGN(y), SIGN(z));
}
/* Operators */