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Merge pull request #51354 from lawnjelly/basis_normal_xform

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Rémi Verschelde 2021-11-15 15:42:38 +01:00 committed by GitHub
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2 changed files with 25 additions and 11 deletions
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16
core/math/basis.h
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@ -237,9 +237,23 @@ public:
bool is_symmetric() const;
Basis diagonalize();
// The following normal xform functions are correct for non-uniform scales.
// Use these two functions in combination to xform a series of normals.
// First use get_normal_xform_basis() to precalculate the inverse transpose.
// Then apply xform_normal_fast() multiple times using the inverse transpose basis.
Basis get_normal_xform_basis() const { return inverse().transposed(); }
// N.B. This only does a normal transform if the basis used is the inverse transpose!
// Otherwise use xform_normal().
Vector3 xform_normal_fast(const Vector3 &p_vector) const { return xform(p_vector).normalized(); }
// This function does the above but for a single normal vector. It is considerably slower, so should usually
// only be used in cases of single normals, or when the basis changes each time.
Vector3 xform_normal(const Vector3 &p_vector) const { return get_normal_xform_basis().xform_normal_fast(p_vector); }
operator Quat() const { return get_quat(); }
Basis(const Quat &p_quat) { set_quat(p_quat); };
Basis(const Quat &p_quat) { set_quat(p_quat); }
Basis(const Quat &p_quat, const Vector3 &p_scale) { set_quat_scale(p_quat, p_scale); }
Basis(const Vector3 &p_euler) { set_euler(p_euler); }

20
servers/physics/collision_solver_sat.cpp
View file

@ -954,11 +954,11 @@ static void _collision_sphere_convex_polygon(const ShapeSW *p_a, const Transform
int vertex_count = mesh.vertices.size();
// Precalculating this makes the transforms faster.
Basis b_xform_normal = p_transform_b.basis.inverse().transposed();
Basis nx_b = p_transform_b.basis.get_normal_xform_basis();
// faces of B
for (int i = 0; i < face_count; i++) {
Vector3 axis = b_xform_normal.xform(faces[i].plane.normal).normalized();
Vector3 axis = nx_b.xform_normal_fast(faces[i].plane.normal);
if (!separator.test_axis(axis)) {
return;
@ -1373,11 +1373,11 @@ static void _collision_box_convex_polygon(const ShapeSW *p_a, const Transform &p
}
// Precalculating this makes the transforms faster.
Basis b_xform_normal = p_transform_b.basis.inverse().transposed();
Basis nx_b = p_transform_b.basis.get_normal_xform_basis();
// faces of B
for (int i = 0; i < face_count; i++) {
Vector3 axis = b_xform_normal.xform(faces[i].plane.normal).normalized();
Vector3 axis = nx_b.xform_normal_fast(faces[i].plane.normal);
if (!separator.test_axis(axis)) {
return;
@ -1709,11 +1709,11 @@ static void _collision_capsule_convex_polygon(const ShapeSW *p_a, const Transfor
const Vector3 *vertices = mesh.vertices.ptr();
// Precalculating this makes the transforms faster.
Basis b_xform_normal = p_transform_b.basis.inverse().transposed();
Basis nx_b = p_transform_b.basis.get_normal_xform_basis();
// faces of B
for (int i = 0; i < face_count; i++) {
Vector3 axis = b_xform_normal.xform(faces[i].plane.normal).normalized();
Vector3 axis = nx_b.xform_normal_fast(faces[i].plane.normal);
if (!separator.test_axis(axis)) {
return;
@ -2006,11 +2006,11 @@ static void _collision_convex_polygon_convex_polygon(const ShapeSW *p_a, const T
int vertex_count_B = mesh_B.vertices.size();
// Precalculating this makes the transforms faster.
Basis a_xform_normal = p_transform_a.basis.inverse().transposed();
Basis nx_a = p_transform_a.basis.get_normal_xform_basis();
// faces of A
for (int i = 0; i < face_count_A; i++) {
Vector3 axis = a_xform_normal.xform(faces_A[i].plane.normal).normalized();
Vector3 axis = nx_a.xform_normal_fast(faces_A[i].plane.normal);
if (!separator.test_axis(axis)) {
return;
@ -2018,11 +2018,11 @@ static void _collision_convex_polygon_convex_polygon(const ShapeSW *p_a, const T
}
// Precalculating this makes the transforms faster.
Basis b_xform_normal = p_transform_b.basis.inverse().transposed();
Basis nx_b = p_transform_b.basis.get_normal_xform_basis();
// faces of B
for (int i = 0; i < face_count_B; i++) {
Vector3 axis = b_xform_normal.xform(faces_B[i].plane.normal).normalized();
Vector3 axis = nx_b.xform_normal_fast(faces_B[i].plane.normal);
if (!separator.test_axis(axis)) {
return;