summaryrefslogtreecommitdiff
path: root/modules/mono/glue/Managed/Files/Basis.cs
diff options
context:
space:
mode:
Diffstat (limited to 'modules/mono/glue/Managed/Files/Basis.cs')
-rw-r--r--modules/mono/glue/Managed/Files/Basis.cs687
1 files changed, 0 insertions, 687 deletions
diff --git a/modules/mono/glue/Managed/Files/Basis.cs b/modules/mono/glue/Managed/Files/Basis.cs
deleted file mode 100644
index c5e62b77c8..0000000000
--- a/modules/mono/glue/Managed/Files/Basis.cs
+++ /dev/null
@@ -1,687 +0,0 @@
-using System;
-using System.Runtime.InteropServices;
-#if REAL_T_IS_DOUBLE
-using real_t = System.Double;
-#else
-using real_t = System.Single;
-#endif
-
-namespace Godot
-{
- [Serializable]
- [StructLayout(LayoutKind.Sequential)]
- public struct Basis : IEquatable<Basis>
- {
- // NOTE: x, y and z are public-only. Use Column0, Column1 and Column2 internally.
-
- /// <summary>
- /// Returns the basis matrix’s x vector.
- /// This is equivalent to <see cref="Column0"/>.
- /// </summary>
- public Vector3 x
- {
- get => Column0;
- set => Column0 = value;
- }
-
- /// <summary>
- /// Returns the basis matrix’s y vector.
- /// This is equivalent to <see cref="Column1"/>.
- /// </summary>
- public Vector3 y
- {
- get => Column1;
- set => Column1 = value;
- }
-
- /// <summary>
- /// Returns the basis matrix’s z vector.
- /// This is equivalent to <see cref="Column2"/>.
- /// </summary>
- public Vector3 z
- {
- get => Column2;
- set => Column2 = value;
- }
-
- public Vector3 Row0;
- public Vector3 Row1;
- public Vector3 Row2;
-
- public Vector3 Column0
- {
- get => new Vector3(Row0.x, Row1.x, Row2.x);
- set
- {
- this.Row0.x = value.x;
- this.Row1.x = value.y;
- this.Row2.x = value.z;
- }
- }
- public Vector3 Column1
- {
- get => new Vector3(Row0.y, Row1.y, Row2.y);
- set
- {
- this.Row0.y = value.x;
- this.Row1.y = value.y;
- this.Row2.y = value.z;
- }
- }
- public Vector3 Column2
- {
- get => new Vector3(Row0.z, Row1.z, Row2.z);
- set
- {
- this.Row0.z = value.x;
- this.Row1.z = value.y;
- this.Row2.z = value.z;
- }
- }
-
- public Vector3 Scale
- {
- get
- {
- real_t detSign = Mathf.Sign(Determinant());
- return detSign * new Vector3
- (
- new Vector3(this.Row0[0], this.Row1[0], this.Row2[0]).Length(),
- new Vector3(this.Row0[1], this.Row1[1], this.Row2[1]).Length(),
- new Vector3(this.Row0[2], this.Row1[2], this.Row2[2]).Length()
- );
- }
- }
-
- public Vector3 this[int columnIndex]
- {
- get
- {
- switch (columnIndex)
- {
- case 0:
- return Column0;
- case 1:
- return Column1;
- case 2:
- return Column2;
- default:
- throw new IndexOutOfRangeException();
- }
- }
- set
- {
- switch (columnIndex)
- {
- case 0:
- Column0 = value;
- return;
- case 1:
- Column1 = value;
- return;
- case 2:
- Column2 = value;
- return;
- default:
- throw new IndexOutOfRangeException();
- }
- }
- }
-
- public real_t this[int columnIndex, int rowIndex]
- {
- get
- {
- switch (columnIndex)
- {
- case 0:
- return Column0[rowIndex];
- case 1:
- return Column1[rowIndex];
- case 2:
- return Column2[rowIndex];
- default:
- throw new IndexOutOfRangeException();
- }
- }
- set
- {
- switch (columnIndex)
- {
- case 0:
- {
- var column0 = Column0;
- column0[rowIndex] = value;
- Column0 = column0;
- return;
- }
- case 1:
- {
- var column1 = Column1;
- column1[rowIndex] = value;
- Column1 = column1;
- return;
- }
- case 2:
- {
- var column2 = Column2;
- column2[rowIndex] = value;
- Column2 = column2;
- return;
- }
- default:
- throw new IndexOutOfRangeException();
- }
- }
- }
-
- internal Quat RotationQuat()
- {
- Basis orthonormalizedBasis = Orthonormalized();
- real_t det = orthonormalizedBasis.Determinant();
- if (det < 0)
- {
- // Ensure that the determinant is 1, such that result is a proper rotation matrix which can be represented by Euler angles.
- orthonormalizedBasis = orthonormalizedBasis.Scaled(Vector3.NegOne);
- }
-
- return orthonormalizedBasis.Quat();
- }
-
- internal void SetQuatScale(Quat quat, Vector3 scale)
- {
- SetDiagonal(scale);
- Rotate(quat);
- }
-
- private void Rotate(Quat quat)
- {
- this *= new Basis(quat);
- }
-
- private void SetDiagonal(Vector3 diagonal)
- {
- Row0 = new Vector3(diagonal.x, 0, 0);
- Row1 = new Vector3(0, diagonal.y, 0);
- Row2 = new Vector3(0, 0, diagonal.z);
- }
-
- public real_t Determinant()
- {
- real_t cofac00 = Row1[1] * Row2[2] - Row1[2] * Row2[1];
- real_t cofac10 = Row1[2] * Row2[0] - Row1[0] * Row2[2];
- real_t cofac20 = Row1[0] * Row2[1] - Row1[1] * Row2[0];
-
- return Row0[0] * cofac00 + Row0[1] * cofac10 + Row0[2] * cofac20;
- }
-
- public Vector3 GetEuler()
- {
- Basis m = Orthonormalized();
-
- Vector3 euler;
- euler.z = 0.0f;
-
- real_t mzy = m.Row1[2];
-
- if (mzy < 1.0f)
- {
- if (mzy > -1.0f)
- {
- euler.x = Mathf.Asin(-mzy);
- euler.y = Mathf.Atan2(m.Row0[2], m.Row2[2]);
- euler.z = Mathf.Atan2(m.Row1[0], m.Row1[1]);
- }
- else
- {
- euler.x = Mathf.Pi * 0.5f;
- euler.y = -Mathf.Atan2(-m.Row0[1], m.Row0[0]);
- }
- }
- else
- {
- euler.x = -Mathf.Pi * 0.5f;
- euler.y = -Mathf.Atan2(-m.Row0[1], m.Row0[0]);
- }
-
- return euler;
- }
-
- public Vector3 GetRow(int index)
- {
- switch (index)
- {
- case 0:
- return Row0;
- case 1:
- return Row1;
- case 2:
- return Row2;
- default:
- throw new IndexOutOfRangeException();
- }
- }
-
- public void SetRow(int index, Vector3 value)
- {
- switch (index)
- {
- case 0:
- Row0 = value;
- return;
- case 1:
- Row1 = value;
- return;
- case 2:
- Row2 = value;
- return;
- default:
- throw new IndexOutOfRangeException();
- }
- }
-
- public Vector3 GetColumn(int index)
- {
- return this[index];
- }
-
- public void SetColumn(int index, Vector3 value)
- {
- this[index] = value;
- }
-
- [Obsolete("GetAxis is deprecated. Use GetColumn instead.")]
- public Vector3 GetAxis(int axis)
- {
- return new Vector3(this.Row0[axis], this.Row1[axis], this.Row2[axis]);
- }
-
- public int GetOrthogonalIndex()
- {
- var orth = this;
-
- for (int i = 0; i < 3; i++)
- {
- for (int j = 0; j < 3; j++)
- {
- var row = orth.GetRow(i);
-
- real_t v = row[j];
-
- if (v > 0.5f)
- v = 1.0f;
- else if (v < -0.5f)
- v = -1.0f;
- else
- v = 0f;
-
- row[j] = v;
-
- orth.SetRow(i, row);
- }
- }
-
- for (int i = 0; i < 24; i++)
- {
- if (orth == _orthoBases[i])
- return i;
- }
-
- return 0;
- }
-
- public Basis Inverse()
- {
- real_t cofac00 = Row1[1] * Row2[2] - Row1[2] * Row2[1];
- real_t cofac10 = Row1[2] * Row2[0] - Row1[0] * Row2[2];
- real_t cofac20 = Row1[0] * Row2[1] - Row1[1] * Row2[0];
-
- real_t det = Row0[0] * cofac00 + Row0[1] * cofac10 + Row0[2] * cofac20;
-
- if (det == 0)
- throw new InvalidOperationException("Matrix determinant is zero and cannot be inverted.");
-
- real_t detInv = 1.0f / det;
-
- real_t cofac01 = Row0[2] * Row2[1] - Row0[1] * Row2[2];
- real_t cofac02 = Row0[1] * Row1[2] - Row0[2] * Row1[1];
- real_t cofac11 = Row0[0] * Row2[2] - Row0[2] * Row2[0];
- real_t cofac12 = Row0[2] * Row1[0] - Row0[0] * Row1[2];
- real_t cofac21 = Row0[1] * Row2[0] - Row0[0] * Row2[1];
- real_t cofac22 = Row0[0] * Row1[1] - Row0[1] * Row1[0];
-
- return new Basis
- (
- cofac00 * detInv, cofac01 * detInv, cofac02 * detInv,
- cofac10 * detInv, cofac11 * detInv, cofac12 * detInv,
- cofac20 * detInv, cofac21 * detInv, cofac22 * detInv
- );
- }
-
- public Basis Orthonormalized()
- {
- Vector3 column0 = GetColumn(0);
- Vector3 column1 = GetColumn(1);
- Vector3 column2 = GetColumn(2);
-
- column0.Normalize();
- column1 = column1 - column0 * column0.Dot(column1);
- column1.Normalize();
- column2 = column2 - column0 * column0.Dot(column2) - column1 * column1.Dot(column2);
- column2.Normalize();
-
- return new Basis(column0, column1, column2);
- }
-
- public Basis Rotated(Vector3 axis, real_t phi)
- {
- return new Basis(axis, phi) * this;
- }
-
- public Basis Scaled(Vector3 scale)
- {
- var b = this;
- b.Row0 *= scale.x;
- b.Row1 *= scale.y;
- b.Row2 *= scale.z;
- return b;
- }
-
- public real_t Tdotx(Vector3 with)
- {
- return this.Row0[0] * with[0] + this.Row1[0] * with[1] + this.Row2[0] * with[2];
- }
-
- public real_t Tdoty(Vector3 with)
- {
- return this.Row0[1] * with[0] + this.Row1[1] * with[1] + this.Row2[1] * with[2];
- }
-
- public real_t Tdotz(Vector3 with)
- {
- return this.Row0[2] * with[0] + this.Row1[2] * with[1] + this.Row2[2] * with[2];
- }
-
- public Basis Transposed()
- {
- var tr = this;
-
- real_t temp = tr.Row0[1];
- tr.Row0[1] = tr.Row1[0];
- tr.Row1[0] = temp;
-
- temp = tr.Row0[2];
- tr.Row0[2] = tr.Row2[0];
- tr.Row2[0] = temp;
-
- temp = tr.Row1[2];
- tr.Row1[2] = tr.Row2[1];
- tr.Row2[1] = temp;
-
- return tr;
- }
-
- public Vector3 Xform(Vector3 v)
- {
- return new Vector3
- (
- this.Row0.Dot(v),
- this.Row1.Dot(v),
- this.Row2.Dot(v)
- );
- }
-
- public Vector3 XformInv(Vector3 v)
- {
- return new Vector3
- (
- this.Row0[0] * v.x + this.Row1[0] * v.y + this.Row2[0] * v.z,
- this.Row0[1] * v.x + this.Row1[1] * v.y + this.Row2[1] * v.z,
- this.Row0[2] * v.x + this.Row1[2] * v.y + this.Row2[2] * v.z
- );
- }
-
- public Quat Quat()
- {
- real_t trace = Row0[0] + Row1[1] + Row2[2];
-
- if (trace > 0.0f)
- {
- real_t s = Mathf.Sqrt(trace + 1.0f) * 2f;
- real_t inv_s = 1f / s;
- return new Quat(
- (Row2[1] - Row1[2]) * inv_s,
- (Row0[2] - Row2[0]) * inv_s,
- (Row1[0] - Row0[1]) * inv_s,
- s * 0.25f
- );
- }
-
- if (Row0[0] > Row1[1] && Row0[0] > Row2[2])
- {
- real_t s = Mathf.Sqrt(Row0[0] - Row1[1] - Row2[2] + 1.0f) * 2f;
- real_t inv_s = 1f / s;
- return new Quat(
- s * 0.25f,
- (Row0[1] + Row1[0]) * inv_s,
- (Row0[2] + Row2[0]) * inv_s,
- (Row2[1] - Row1[2]) * inv_s
- );
- }
-
- if (Row1[1] > Row2[2])
- {
- real_t s = Mathf.Sqrt(-Row0[0] + Row1[1] - Row2[2] + 1.0f) * 2f;
- real_t inv_s = 1f / s;
- return new Quat(
- (Row0[1] + Row1[0]) * inv_s,
- s * 0.25f,
- (Row1[2] + Row2[1]) * inv_s,
- (Row0[2] - Row2[0]) * inv_s
- );
- }
- else
- {
- real_t s = Mathf.Sqrt(-Row0[0] - Row1[1] + Row2[2] + 1.0f) * 2f;
- real_t inv_s = 1f / s;
- return new Quat(
- (Row0[2] + Row2[0]) * inv_s,
- (Row1[2] + Row2[1]) * inv_s,
- s * 0.25f,
- (Row1[0] - Row0[1]) * inv_s
- );
- }
- }
-
- private static readonly Basis[] _orthoBases = {
- new Basis(1f, 0f, 0f, 0f, 1f, 0f, 0f, 0f, 1f),
- new Basis(0f, -1f, 0f, 1f, 0f, 0f, 0f, 0f, 1f),
- new Basis(-1f, 0f, 0f, 0f, -1f, 0f, 0f, 0f, 1f),
- new Basis(0f, 1f, 0f, -1f, 0f, 0f, 0f, 0f, 1f),
- new Basis(1f, 0f, 0f, 0f, 0f, -1f, 0f, 1f, 0f),
- new Basis(0f, 0f, 1f, 1f, 0f, 0f, 0f, 1f, 0f),
- new Basis(-1f, 0f, 0f, 0f, 0f, 1f, 0f, 1f, 0f),
- new Basis(0f, 0f, -1f, -1f, 0f, 0f, 0f, 1f, 0f),
- new Basis(1f, 0f, 0f, 0f, -1f, 0f, 0f, 0f, -1f),
- new Basis(0f, 1f, 0f, 1f, 0f, 0f, 0f, 0f, -1f),
- new Basis(-1f, 0f, 0f, 0f, 1f, 0f, 0f, 0f, -1f),
- new Basis(0f, -1f, 0f, -1f, 0f, 0f, 0f, 0f, -1f),
- new Basis(1f, 0f, 0f, 0f, 0f, 1f, 0f, -1f, 0f),
- new Basis(0f, 0f, -1f, 1f, 0f, 0f, 0f, -1f, 0f),
- new Basis(-1f, 0f, 0f, 0f, 0f, -1f, 0f, -1f, 0f),
- new Basis(0f, 0f, 1f, -1f, 0f, 0f, 0f, -1f, 0f),
- new Basis(0f, 0f, 1f, 0f, 1f, 0f, -1f, 0f, 0f),
- new Basis(0f, -1f, 0f, 0f, 0f, 1f, -1f, 0f, 0f),
- new Basis(0f, 0f, -1f, 0f, -1f, 0f, -1f, 0f, 0f),
- new Basis(0f, 1f, 0f, 0f, 0f, -1f, -1f, 0f, 0f),
- new Basis(0f, 0f, 1f, 0f, -1f, 0f, 1f, 0f, 0f),
- new Basis(0f, 1f, 0f, 0f, 0f, 1f, 1f, 0f, 0f),
- new Basis(0f, 0f, -1f, 0f, 1f, 0f, 1f, 0f, 0f),
- new Basis(0f, -1f, 0f, 0f, 0f, -1f, 1f, 0f, 0f)
- };
-
- private static readonly Basis _identity = new Basis(1, 0, 0, 0, 1, 0, 0, 0, 1);
- private static readonly Basis _flipX = new Basis(-1, 0, 0, 0, 1, 0, 0, 0, 1);
- private static readonly Basis _flipY = new Basis(1, 0, 0, 0, -1, 0, 0, 0, 1);
- private static readonly Basis _flipZ = new Basis(1, 0, 0, 0, 1, 0, 0, 0, -1);
-
- public static Basis Identity { get { return _identity; } }
- public static Basis FlipX { get { return _flipX; } }
- public static Basis FlipY { get { return _flipY; } }
- public static Basis FlipZ { get { return _flipZ; } }
-
- public Basis(Quat quat)
- {
- real_t s = 2.0f / quat.LengthSquared;
-
- real_t xs = quat.x * s;
- real_t ys = quat.y * s;
- real_t zs = quat.z * s;
- real_t wx = quat.w * xs;
- real_t wy = quat.w * ys;
- real_t wz = quat.w * zs;
- real_t xx = quat.x * xs;
- real_t xy = quat.x * ys;
- real_t xz = quat.x * zs;
- real_t yy = quat.y * ys;
- real_t yz = quat.y * zs;
- real_t zz = quat.z * zs;
-
- Row0 = new Vector3(1.0f - (yy + zz), xy - wz, xz + wy);
- Row1 = new Vector3(xy + wz, 1.0f - (xx + zz), yz - wx);
- Row2 = new Vector3(xz - wy, yz + wx, 1.0f - (xx + yy));
- }
-
- public Basis(Vector3 euler)
- {
- real_t c;
- real_t s;
-
- c = Mathf.Cos(euler.x);
- s = Mathf.Sin(euler.x);
- var xmat = new Basis(1, 0, 0, 0, c, -s, 0, s, c);
-
- c = Mathf.Cos(euler.y);
- s = Mathf.Sin(euler.y);
- var ymat = new Basis(c, 0, s, 0, 1, 0, -s, 0, c);
-
- c = Mathf.Cos(euler.z);
- s = Mathf.Sin(euler.z);
- var zmat = new Basis(c, -s, 0, s, c, 0, 0, 0, 1);
-
- this = ymat * xmat * zmat;
- }
-
- public Basis(Vector3 axis, real_t phi)
- {
- Vector3 axisSq = new Vector3(axis.x * axis.x, axis.y * axis.y, axis.z * axis.z);
- real_t cosine = Mathf.Cos(phi);
- Row0.x = axisSq.x + cosine * (1.0f - axisSq.x);
- Row1.y = axisSq.y + cosine * (1.0f - axisSq.y);
- Row2.z = axisSq.z + cosine * (1.0f - axisSq.z);
-
- real_t sine = Mathf.Sin(phi);
- real_t t = 1.0f - cosine;
-
- real_t xyzt = axis.x * axis.y * t;
- real_t zyxs = axis.z * sine;
- Row0.y = xyzt - zyxs;
- Row1.x = xyzt + zyxs;
-
- xyzt = axis.x * axis.z * t;
- zyxs = axis.y * sine;
- Row0.z = xyzt + zyxs;
- Row2.x = xyzt - zyxs;
-
- xyzt = axis.y * axis.z * t;
- zyxs = axis.x * sine;
- Row1.z = xyzt - zyxs;
- Row2.y = xyzt + zyxs;
- }
-
- public Basis(Vector3 column0, Vector3 column1, Vector3 column2)
- {
- Row0 = new Vector3(column0.x, column1.x, column2.x);
- Row1 = new Vector3(column0.y, column1.y, column2.y);
- Row2 = new Vector3(column0.z, column1.z, column2.z);
- // Same as:
- // Column0 = column0;
- // Column1 = column1;
- // Column2 = column2;
- // We need to assign the struct fields here first so we can't do it that way...
- }
-
- // Arguments are named such that xy is equal to calling x.y
- internal Basis(real_t xx, real_t yx, real_t zx, real_t xy, real_t yy, real_t zy, real_t xz, real_t yz, real_t zz)
- {
- Row0 = new Vector3(xx, yx, zx);
- Row1 = new Vector3(xy, yy, zy);
- Row2 = new Vector3(xz, yz, zz);
- }
-
- public static Basis operator *(Basis left, Basis right)
- {
- return new Basis
- (
- right.Tdotx(left.Row0), right.Tdoty(left.Row0), right.Tdotz(left.Row0),
- right.Tdotx(left.Row1), right.Tdoty(left.Row1), right.Tdotz(left.Row1),
- right.Tdotx(left.Row2), right.Tdoty(left.Row2), right.Tdotz(left.Row2)
- );
- }
-
- public static bool operator ==(Basis left, Basis right)
- {
- return left.Equals(right);
- }
-
- public static bool operator !=(Basis left, Basis right)
- {
- return !left.Equals(right);
- }
-
- public override bool Equals(object obj)
- {
- if (obj is Basis)
- {
- return Equals((Basis)obj);
- }
-
- return false;
- }
-
- public bool Equals(Basis other)
- {
- return Row0.Equals(other.Row0) && Row1.Equals(other.Row1) && Row2.Equals(other.Row2);
- }
-
- public bool IsEqualApprox(Basis other)
- {
- return Row0.IsEqualApprox(other.Row0) && Row1.IsEqualApprox(other.Row1) && Row2.IsEqualApprox(other.Row2);
- }
-
- public override int GetHashCode()
- {
- return Row0.GetHashCode() ^ Row1.GetHashCode() ^ Row2.GetHashCode();
- }
-
- public override string ToString()
- {
- return String.Format("({0}, {1}, {2})", new object[]
- {
- Row0.ToString(),
- Row1.ToString(),
- Row2.ToString()
- });
- }
-
- public string ToString(string format)
- {
- return String.Format("({0}, {1}, {2})", new object[]
- {
- Row0.ToString(format),
- Row1.ToString(format),
- Row2.ToString(format)
- });
- }
- }
-}
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-25 13:00:31 +0000