1061 lines
34 KiB
C++
1061 lines
34 KiB
C++
/**************************************************************************/
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/* basis.cpp */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#include "basis.h"
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#include "core/math/math_funcs.h"
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#include "core/string/ustring.h"
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#define cofac(row1, col1, row2, col2) \
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(rows[row1][col1] * rows[row2][col2] - rows[row1][col2] * rows[row2][col1])
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void Basis::invert() {
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real_t co[3] = {
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cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1)
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};
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real_t det = rows[0][0] * co[0] +
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rows[0][1] * co[1] +
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rows[0][2] * co[2];
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#ifdef MATH_CHECKS
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ERR_FAIL_COND(det == 0);
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#endif
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real_t s = 1.0f / det;
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set(co[0] * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s,
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co[1] * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,
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co[2] * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s);
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}
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void Basis::orthonormalize() {
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// Gram-Schmidt Process
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Vector3 x = get_column(0);
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Vector3 y = get_column(1);
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Vector3 z = get_column(2);
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x.normalize();
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y = (y - x * (x.dot(y)));
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y.normalize();
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z = (z - x * (x.dot(z)) - y * (y.dot(z)));
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z.normalize();
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set_column(0, x);
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set_column(1, y);
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set_column(2, z);
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}
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Basis Basis::orthonormalized() const {
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Basis c = *this;
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c.orthonormalize();
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return c;
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}
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void Basis::orthogonalize() {
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Vector3 scl = get_scale();
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orthonormalize();
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scale_local(scl);
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}
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Basis Basis::orthogonalized() const {
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Basis c = *this;
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c.orthogonalize();
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return c;
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}
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// Returns true if the basis vectors are orthogonal (perpendicular), so it has no skew or shear, and can be decomposed into rotation and scale.
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// See https://en.wikipedia.org/wiki/Orthogonal_basis
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bool Basis::is_orthogonal() const {
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const Vector3 x = get_column(0);
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const Vector3 y = get_column(1);
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const Vector3 z = get_column(2);
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return Math::is_zero_approx(x.dot(y)) && Math::is_zero_approx(x.dot(z)) && Math::is_zero_approx(y.dot(z));
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}
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// Returns true if the basis vectors are orthonormal (orthogonal and normalized), so it has no scale, skew, or shear.
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// See https://en.wikipedia.org/wiki/Orthonormal_basis
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bool Basis::is_orthonormal() const {
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const Vector3 x = get_column(0);
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const Vector3 y = get_column(1);
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const Vector3 z = get_column(2);
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return Math::is_equal_approx(x.length_squared(), 1) && Math::is_equal_approx(y.length_squared(), 1) && Math::is_equal_approx(z.length_squared(), 1) && Math::is_zero_approx(x.dot(y)) && Math::is_zero_approx(x.dot(z)) && Math::is_zero_approx(y.dot(z));
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}
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// Returns true if the basis is conformal (orthogonal, uniform scale, preserves angles and distance ratios).
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// See https://en.wikipedia.org/wiki/Conformal_linear_transformation
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bool Basis::is_conformal() const {
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const Vector3 x = get_column(0);
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const Vector3 y = get_column(1);
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const Vector3 z = get_column(2);
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const real_t x_len_sq = x.length_squared();
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return Math::is_equal_approx(x_len_sq, y.length_squared()) && Math::is_equal_approx(x_len_sq, z.length_squared()) && Math::is_zero_approx(x.dot(y)) && Math::is_zero_approx(x.dot(z)) && Math::is_zero_approx(y.dot(z));
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}
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// Returns true if the basis only has diagonal elements, so it may only have scale or flip, but no rotation, skew, or shear.
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bool Basis::is_diagonal() const {
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return (
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Math::is_zero_approx(rows[0][1]) && Math::is_zero_approx(rows[0][2]) &&
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Math::is_zero_approx(rows[1][0]) && Math::is_zero_approx(rows[1][2]) &&
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Math::is_zero_approx(rows[2][0]) && Math::is_zero_approx(rows[2][1]));
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}
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// Returns true if the basis is a pure rotation matrix, so it has no scale, skew, shear, or flip.
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bool Basis::is_rotation() const {
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return is_conformal() && Math::is_equal_approx(determinant(), 1, (real_t)UNIT_EPSILON);
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}
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#ifdef MATH_CHECKS
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// This method is only used once, in diagonalize. If it's desired elsewhere, feel free to remove the #ifdef.
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bool Basis::is_symmetric() const {
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if (!Math::is_equal_approx(rows[0][1], rows[1][0])) {
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return false;
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}
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if (!Math::is_equal_approx(rows[0][2], rows[2][0])) {
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return false;
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}
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if (!Math::is_equal_approx(rows[1][2], rows[2][1])) {
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return false;
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}
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return true;
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}
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#endif
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Basis Basis::diagonalize() {
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// NOTE: only implemented for symmetric matrices
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// with the Jacobi iterative method
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#ifdef MATH_CHECKS
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ERR_FAIL_COND_V(!is_symmetric(), Basis());
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#endif
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const int ite_max = 1024;
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real_t off_matrix_norm_2 = rows[0][1] * rows[0][1] + rows[0][2] * rows[0][2] + rows[1][2] * rows[1][2];
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int ite = 0;
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Basis acc_rot;
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while (off_matrix_norm_2 > (real_t)CMP_EPSILON2 && ite++ < ite_max) {
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real_t el01_2 = rows[0][1] * rows[0][1];
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real_t el02_2 = rows[0][2] * rows[0][2];
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real_t el12_2 = rows[1][2] * rows[1][2];
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// Find the pivot element
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int i, j;
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if (el01_2 > el02_2) {
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if (el12_2 > el01_2) {
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i = 1;
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j = 2;
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} else {
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i = 0;
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j = 1;
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}
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} else {
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if (el12_2 > el02_2) {
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i = 1;
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j = 2;
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} else {
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i = 0;
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j = 2;
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}
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}
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// Compute the rotation angle
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real_t angle;
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if (Math::is_equal_approx(rows[j][j], rows[i][i])) {
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angle = Math_PI / 4;
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} else {
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angle = 0.5f * Math::atan(2 * rows[i][j] / (rows[j][j] - rows[i][i]));
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}
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// Compute the rotation matrix
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Basis rot;
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rot.rows[i][i] = rot.rows[j][j] = Math::cos(angle);
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rot.rows[i][j] = -(rot.rows[j][i] = Math::sin(angle));
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// Update the off matrix norm
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off_matrix_norm_2 -= rows[i][j] * rows[i][j];
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// Apply the rotation
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*this = rot * *this * rot.transposed();
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acc_rot = rot * acc_rot;
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}
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return acc_rot;
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}
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Basis Basis::inverse() const {
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Basis inv = *this;
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inv.invert();
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return inv;
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}
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void Basis::transpose() {
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SWAP(rows[0][1], rows[1][0]);
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SWAP(rows[0][2], rows[2][0]);
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SWAP(rows[1][2], rows[2][1]);
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}
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Basis Basis::transposed() const {
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Basis tr = *this;
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tr.transpose();
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return tr;
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}
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Basis Basis::from_scale(const Vector3 &p_scale) {
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return Basis(p_scale.x, 0, 0, 0, p_scale.y, 0, 0, 0, p_scale.z);
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}
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// Multiplies the matrix from left by the scaling matrix: M -> S.M
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// See the comment for Basis::rotated for further explanation.
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void Basis::scale(const Vector3 &p_scale) {
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rows[0][0] *= p_scale.x;
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rows[0][1] *= p_scale.x;
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rows[0][2] *= p_scale.x;
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rows[1][0] *= p_scale.y;
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rows[1][1] *= p_scale.y;
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rows[1][2] *= p_scale.y;
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rows[2][0] *= p_scale.z;
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rows[2][1] *= p_scale.z;
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rows[2][2] *= p_scale.z;
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}
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Basis Basis::scaled(const Vector3 &p_scale) const {
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Basis m = *this;
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m.scale(p_scale);
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return m;
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}
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void Basis::scale_local(const Vector3 &p_scale) {
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// performs a scaling in object-local coordinate system:
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// M -> (M.S.Minv).M = M.S.
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*this = scaled_local(p_scale);
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}
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void Basis::scale_orthogonal(const Vector3 &p_scale) {
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*this = scaled_orthogonal(p_scale);
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}
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Basis Basis::scaled_orthogonal(const Vector3 &p_scale) const {
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Basis m = *this;
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Vector3 s = Vector3(-1, -1, -1) + p_scale;
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bool sign = signbit(s.x + s.y + s.z);
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Basis b = m.orthonormalized();
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s = b.xform_inv(s);
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Vector3 dots;
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for (int i = 0; i < 3; i++) {
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for (int j = 0; j < 3; j++) {
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dots[j] += s[i] * abs(m.get_column(i).normalized().dot(b.get_column(j)));
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}
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}
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if (sign != signbit(dots.x + dots.y + dots.z)) {
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dots = -dots;
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}
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m.scale_local(Vector3(1, 1, 1) + dots);
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return m;
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}
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float Basis::get_uniform_scale() const {
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return (rows[0].length() + rows[1].length() + rows[2].length()) / 3.0f;
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}
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Basis Basis::scaled_local(const Vector3 &p_scale) const {
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return (*this) * Basis::from_scale(p_scale);
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}
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Vector3 Basis::get_scale_abs() const {
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return Vector3(
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Vector3(rows[0][0], rows[1][0], rows[2][0]).length(),
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Vector3(rows[0][1], rows[1][1], rows[2][1]).length(),
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Vector3(rows[0][2], rows[1][2], rows[2][2]).length());
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}
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Vector3 Basis::get_scale_local() const {
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real_t det_sign = SIGN(determinant());
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return det_sign * Vector3(rows[0].length(), rows[1].length(), rows[2].length());
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}
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// get_scale works with get_rotation, use get_scale_abs if you need to enforce positive signature.
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Vector3 Basis::get_scale() const {
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// FIXME: We are assuming M = R.S (R is rotation and S is scaling), and use polar decomposition to extract R and S.
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// A polar decomposition is M = O.P, where O is an orthogonal matrix (meaning rotation and reflection) and
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// P is a positive semi-definite matrix (meaning it contains absolute values of scaling along its diagonal).
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//
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// Despite being different from what we want to achieve, we can nevertheless make use of polar decomposition
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// here as follows. We can split O into a rotation and a reflection as O = R.Q, and obtain M = R.S where
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// we defined S = Q.P. Now, R is a proper rotation matrix and S is a (signed) scaling matrix,
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// which can involve negative scalings. However, there is a catch: unlike the polar decomposition of M = O.P,
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// the decomposition of O into a rotation and reflection matrix as O = R.Q is not unique.
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// Therefore, we are going to do this decomposition by sticking to a particular convention.
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// This may lead to confusion for some users though.
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//
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// The convention we use here is to absorb the sign flip into the scaling matrix.
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// The same convention is also used in other similar functions such as get_rotation_axis_angle, get_rotation, ...
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//
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// A proper way to get rid of this issue would be to store the scaling values (or at least their signs)
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// as a part of Basis. However, if we go that path, we need to disable direct (write) access to the
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// matrix elements.
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//
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// The rotation part of this decomposition is returned by get_rotation* functions.
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real_t det_sign = SIGN(determinant());
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return det_sign * get_scale_abs();
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}
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// Decomposes a Basis into a rotation-reflection matrix (an element of the group O(3)) and a positive scaling matrix as B = O.S.
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// Returns the rotation-reflection matrix via reference argument, and scaling information is returned as a Vector3.
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// This (internal) function is too specific and named too ugly to expose to users, and probably there's no need to do so.
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Vector3 Basis::rotref_posscale_decomposition(Basis &rotref) const {
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#ifdef MATH_CHECKS
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ERR_FAIL_COND_V(determinant() == 0, Vector3());
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Basis m = transposed() * (*this);
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ERR_FAIL_COND_V(!m.is_diagonal(), Vector3());
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#endif
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Vector3 scale = get_scale();
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Basis inv_scale = Basis().scaled(scale.inverse()); // this will also absorb the sign of scale
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rotref = (*this) * inv_scale;
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#ifdef MATH_CHECKS
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ERR_FAIL_COND_V(!rotref.is_orthogonal(), Vector3());
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#endif
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return scale.abs();
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}
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// Multiplies the matrix from left by the rotation matrix: M -> R.M
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// Note that this does *not* rotate the matrix itself.
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//
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// The main use of Basis is as Transform.basis, which is used by the transformation matrix
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// of 3D object. Rotate here refers to rotation of the object (which is R * (*this)),
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// not the matrix itself (which is R * (*this) * R.transposed()).
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Basis Basis::rotated(const Vector3 &p_axis, real_t p_angle) const {
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return Basis(p_axis, p_angle) * (*this);
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}
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void Basis::rotate(const Vector3 &p_axis, real_t p_angle) {
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*this = rotated(p_axis, p_angle);
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}
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void Basis::rotate_local(const Vector3 &p_axis, real_t p_angle) {
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// performs a rotation in object-local coordinate system:
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// M -> (M.R.Minv).M = M.R.
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*this = rotated_local(p_axis, p_angle);
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}
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Basis Basis::rotated_local(const Vector3 &p_axis, real_t p_angle) const {
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return (*this) * Basis(p_axis, p_angle);
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}
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Basis Basis::rotated(const Vector3 &p_euler, EulerOrder p_order) const {
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return Basis::from_euler(p_euler, p_order) * (*this);
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}
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void Basis::rotate(const Vector3 &p_euler, EulerOrder p_order) {
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*this = rotated(p_euler, p_order);
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}
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Basis Basis::rotated(const Quaternion &p_quaternion) const {
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return Basis(p_quaternion) * (*this);
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}
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void Basis::rotate(const Quaternion &p_quaternion) {
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*this = rotated(p_quaternion);
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}
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Vector3 Basis::get_euler_normalized(EulerOrder p_order) const {
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// Assumes that the matrix can be decomposed into a proper rotation and scaling matrix as M = R.S,
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// and returns the Euler angles corresponding to the rotation part, complementing get_scale().
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// See the comment in get_scale() for further information.
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Basis m = orthonormalized();
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real_t det = m.determinant();
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if (det < 0) {
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// Ensure that the determinant is 1, such that result is a proper rotation matrix which can be represented by Euler angles.
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m.scale(Vector3(-1, -1, -1));
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}
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return m.get_euler(p_order);
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}
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Quaternion Basis::get_rotation_quaternion() const {
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// Assumes that the matrix can be decomposed into a proper rotation and scaling matrix as M = R.S,
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// and returns the Euler angles corresponding to the rotation part, complementing get_scale().
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// See the comment in get_scale() for further information.
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Basis m = orthonormalized();
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real_t det = m.determinant();
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if (det < 0) {
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// Ensure that the determinant is 1, such that result is a proper rotation matrix which can be represented by Euler angles.
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m.scale(Vector3(-1, -1, -1));
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}
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return m.get_quaternion();
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}
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void Basis::rotate_to_align(Vector3 p_start_direction, Vector3 p_end_direction) {
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// Takes two vectors and rotates the basis from the first vector to the second vector.
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// Adopted from: https://gist.github.com/kevinmoran/b45980723e53edeb8a5a43c49f134724
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const Vector3 axis = p_start_direction.cross(p_end_direction).normalized();
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if (axis.length_squared() != 0) {
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real_t dot = p_start_direction.dot(p_end_direction);
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dot = CLAMP(dot, -1.0f, 1.0f);
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const real_t angle_rads = Math::acos(dot);
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*this = Basis(axis, angle_rads) * (*this);
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}
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}
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void Basis::get_rotation_axis_angle(Vector3 &p_axis, real_t &p_angle) const {
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// Assumes that the matrix can be decomposed into a proper rotation and scaling matrix as M = R.S,
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// and returns the Euler angles corresponding to the rotation part, complementing get_scale().
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// See the comment in get_scale() for further information.
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Basis m = orthonormalized();
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real_t det = m.determinant();
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if (det < 0) {
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// Ensure that the determinant is 1, such that result is a proper rotation matrix which can be represented by Euler angles.
|
|
m.scale(Vector3(-1, -1, -1));
|
|
}
|
|
|
|
m.get_axis_angle(p_axis, p_angle);
|
|
}
|
|
|
|
void Basis::get_rotation_axis_angle_local(Vector3 &p_axis, real_t &p_angle) const {
|
|
// Assumes that the matrix can be decomposed into a proper rotation and scaling matrix as M = R.S,
|
|
// and returns the Euler angles corresponding to the rotation part, complementing get_scale().
|
|
// See the comment in get_scale() for further information.
|
|
Basis m = transposed();
|
|
m.orthonormalize();
|
|
real_t det = m.determinant();
|
|
if (det < 0) {
|
|
// Ensure that the determinant is 1, such that result is a proper rotation matrix which can be represented by Euler angles.
|
|
m.scale(Vector3(-1, -1, -1));
|
|
}
|
|
|
|
m.get_axis_angle(p_axis, p_angle);
|
|
p_angle = -p_angle;
|
|
}
|
|
|
|
Vector3 Basis::get_euler(EulerOrder p_order) const {
|
|
switch (p_order) {
|
|
case EulerOrder::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 = rows[0][2];
|
|
if (sy < (1.0f - (real_t)CMP_EPSILON)) {
|
|
if (sy > -(1.0f - (real_t)CMP_EPSILON)) {
|
|
// is this a pure Y rotation?
|
|
if (rows[1][0] == 0 && rows[0][1] == 0 && rows[1][2] == 0 && rows[2][1] == 0 && rows[1][1] == 1) {
|
|
// return the simplest form (human friendlier in editor and scripts)
|
|
euler.x = 0;
|
|
euler.y = atan2(rows[0][2], rows[0][0]);
|
|
euler.z = 0;
|
|
} else {
|
|
euler.x = Math::atan2(-rows[1][2], rows[2][2]);
|
|
euler.y = Math::asin(sy);
|
|
euler.z = Math::atan2(-rows[0][1], rows[0][0]);
|
|
}
|
|
} else {
|
|
euler.x = Math::atan2(rows[2][1], rows[1][1]);
|
|
euler.y = -Math_PI / 2.0f;
|
|
euler.z = 0.0f;
|
|
}
|
|
} else {
|
|
euler.x = Math::atan2(rows[2][1], rows[1][1]);
|
|
euler.y = Math_PI / 2.0f;
|
|
euler.z = 0.0f;
|
|
}
|
|
return euler;
|
|
}
|
|
case EulerOrder::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 = rows[0][1];
|
|
if (sz < (1.0f - (real_t)CMP_EPSILON)) {
|
|
if (sz > -(1.0f - (real_t)CMP_EPSILON)) {
|
|
euler.x = Math::atan2(rows[2][1], rows[1][1]);
|
|
euler.y = Math::atan2(rows[0][2], rows[0][0]);
|
|
euler.z = Math::asin(-sz);
|
|
} else {
|
|
// It's -1
|
|
euler.x = -Math::atan2(rows[1][2], rows[2][2]);
|
|
euler.y = 0.0f;
|
|
euler.z = Math_PI / 2.0f;
|
|
}
|
|
} else {
|
|
// It's 1
|
|
euler.x = -Math::atan2(rows[1][2], rows[2][2]);
|
|
euler.y = 0.0f;
|
|
euler.z = -Math_PI / 2.0f;
|
|
}
|
|
return euler;
|
|
}
|
|
case EulerOrder::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 = rows[1][2];
|
|
|
|
if (m12 < (1 - (real_t)CMP_EPSILON)) {
|
|
if (m12 > -(1 - (real_t)CMP_EPSILON)) {
|
|
// is this a pure X rotation?
|
|
if (rows[1][0] == 0 && rows[0][1] == 0 && rows[0][2] == 0 && rows[2][0] == 0 && rows[0][0] == 1) {
|
|
// return the simplest form (human friendlier in editor and scripts)
|
|
euler.x = atan2(-m12, rows[1][1]);
|
|
euler.y = 0;
|
|
euler.z = 0;
|
|
} else {
|
|
euler.x = asin(-m12);
|
|
euler.y = atan2(rows[0][2], rows[2][2]);
|
|
euler.z = atan2(rows[1][0], rows[1][1]);
|
|
}
|
|
} else { // m12 == -1
|
|
euler.x = Math_PI * 0.5f;
|
|
euler.y = atan2(rows[0][1], rows[0][0]);
|
|
euler.z = 0;
|
|
}
|
|
} else { // m12 == 1
|
|
euler.x = -Math_PI * 0.5f;
|
|
euler.y = -atan2(rows[0][1], rows[0][0]);
|
|
euler.z = 0;
|
|
}
|
|
|
|
return euler;
|
|
}
|
|
case EulerOrder::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 = rows[1][0];
|
|
if (sz < (1.0f - (real_t)CMP_EPSILON)) {
|
|
if (sz > -(1.0f - (real_t)CMP_EPSILON)) {
|
|
euler.x = Math::atan2(-rows[1][2], rows[1][1]);
|
|
euler.y = Math::atan2(-rows[2][0], rows[0][0]);
|
|
euler.z = Math::asin(sz);
|
|
} else {
|
|
// It's -1
|
|
euler.x = Math::atan2(rows[2][1], rows[2][2]);
|
|
euler.y = 0.0f;
|
|
euler.z = -Math_PI / 2.0f;
|
|
}
|
|
} else {
|
|
// It's 1
|
|
euler.x = Math::atan2(rows[2][1], rows[2][2]);
|
|
euler.y = 0.0f;
|
|
euler.z = Math_PI / 2.0f;
|
|
}
|
|
return euler;
|
|
} break;
|
|
case EulerOrder::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 = rows[2][1];
|
|
if (sx < (1.0f - (real_t)CMP_EPSILON)) {
|
|
if (sx > -(1.0f - (real_t)CMP_EPSILON)) {
|
|
euler.x = Math::asin(sx);
|
|
euler.y = Math::atan2(-rows[2][0], rows[2][2]);
|
|
euler.z = Math::atan2(-rows[0][1], rows[1][1]);
|
|
} else {
|
|
// It's -1
|
|
euler.x = -Math_PI / 2.0f;
|
|
euler.y = Math::atan2(rows[0][2], rows[0][0]);
|
|
euler.z = 0;
|
|
}
|
|
} else {
|
|
// It's 1
|
|
euler.x = Math_PI / 2.0f;
|
|
euler.y = Math::atan2(rows[0][2], rows[0][0]);
|
|
euler.z = 0;
|
|
}
|
|
return euler;
|
|
} break;
|
|
case EulerOrder::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 = rows[2][0];
|
|
if (sy < (1.0f - (real_t)CMP_EPSILON)) {
|
|
if (sy > -(1.0f - (real_t)CMP_EPSILON)) {
|
|
euler.x = Math::atan2(rows[2][1], rows[2][2]);
|
|
euler.y = Math::asin(-sy);
|
|
euler.z = Math::atan2(rows[1][0], rows[0][0]);
|
|
} else {
|
|
// It's -1
|
|
euler.x = 0;
|
|
euler.y = Math_PI / 2.0f;
|
|
euler.z = -Math::atan2(rows[0][1], rows[1][1]);
|
|
}
|
|
} else {
|
|
// It's 1
|
|
euler.x = 0;
|
|
euler.y = -Math_PI / 2.0f;
|
|
euler.z = -Math::atan2(rows[0][1], rows[1][1]);
|
|
}
|
|
return euler;
|
|
}
|
|
default: {
|
|
ERR_FAIL_V_MSG(Vector3(), "Invalid parameter for get_euler(order)");
|
|
}
|
|
}
|
|
return Vector3();
|
|
}
|
|
|
|
void Basis::set_euler(const Vector3 &p_euler, EulerOrder p_order) {
|
|
real_t c, s;
|
|
|
|
c = Math::cos(p_euler.x);
|
|
s = Math::sin(p_euler.x);
|
|
Basis xmat(1, 0, 0, 0, c, -s, 0, s, c);
|
|
|
|
c = Math::cos(p_euler.y);
|
|
s = Math::sin(p_euler.y);
|
|
Basis ymat(c, 0, s, 0, 1, 0, -s, 0, c);
|
|
|
|
c = Math::cos(p_euler.z);
|
|
s = Math::sin(p_euler.z);
|
|
Basis zmat(c, -s, 0, s, c, 0, 0, 0, 1);
|
|
|
|
switch (p_order) {
|
|
case EulerOrder::XYZ: {
|
|
*this = xmat * (ymat * zmat);
|
|
} break;
|
|
case EulerOrder::XZY: {
|
|
*this = xmat * zmat * ymat;
|
|
} break;
|
|
case EulerOrder::YXZ: {
|
|
*this = ymat * xmat * zmat;
|
|
} break;
|
|
case EulerOrder::YZX: {
|
|
*this = ymat * zmat * xmat;
|
|
} break;
|
|
case EulerOrder::ZXY: {
|
|
*this = zmat * xmat * ymat;
|
|
} break;
|
|
case EulerOrder::ZYX: {
|
|
*this = zmat * ymat * xmat;
|
|
} break;
|
|
default: {
|
|
ERR_FAIL_MSG("Invalid Euler order parameter.");
|
|
}
|
|
}
|
|
}
|
|
|
|
bool Basis::is_equal_approx(const Basis &p_basis) const {
|
|
return rows[0].is_equal_approx(p_basis.rows[0]) && rows[1].is_equal_approx(p_basis.rows[1]) && rows[2].is_equal_approx(p_basis.rows[2]);
|
|
}
|
|
|
|
bool Basis::is_finite() const {
|
|
return rows[0].is_finite() && rows[1].is_finite() && rows[2].is_finite();
|
|
}
|
|
|
|
bool Basis::operator==(const Basis &p_matrix) const {
|
|
for (int i = 0; i < 3; i++) {
|
|
for (int j = 0; j < 3; j++) {
|
|
if (rows[i][j] != p_matrix.rows[i][j]) {
|
|
return false;
|
|
}
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
bool Basis::operator!=(const Basis &p_matrix) const {
|
|
return (!(*this == p_matrix));
|
|
}
|
|
|
|
Basis::operator String() const {
|
|
return "[X: " + get_column(0).operator String() +
|
|
", Y: " + get_column(1).operator String() +
|
|
", Z: " + get_column(2).operator String() + "]";
|
|
}
|
|
|
|
Quaternion Basis::get_quaternion() const {
|
|
#ifdef MATH_CHECKS
|
|
ERR_FAIL_COND_V_MSG(!is_rotation(), Quaternion(), "Basis " + operator String() + " 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;
|
|
real_t trace = m.rows[0][0] + m.rows[1][1] + m.rows[2][2];
|
|
real_t temp[4];
|
|
|
|
if (trace > 0.0f) {
|
|
real_t s = Math::sqrt(trace + 1.0f);
|
|
temp[3] = (s * 0.5f);
|
|
s = 0.5f / s;
|
|
|
|
temp[0] = ((m.rows[2][1] - m.rows[1][2]) * s);
|
|
temp[1] = ((m.rows[0][2] - m.rows[2][0]) * s);
|
|
temp[2] = ((m.rows[1][0] - m.rows[0][1]) * s);
|
|
} else {
|
|
int i = m.rows[0][0] < m.rows[1][1]
|
|
? (m.rows[1][1] < m.rows[2][2] ? 2 : 1)
|
|
: (m.rows[0][0] < m.rows[2][2] ? 2 : 0);
|
|
int j = (i + 1) % 3;
|
|
int k = (i + 2) % 3;
|
|
|
|
real_t s = Math::sqrt(m.rows[i][i] - m.rows[j][j] - m.rows[k][k] + 1.0f);
|
|
temp[i] = s * 0.5f;
|
|
s = 0.5f / s;
|
|
|
|
temp[3] = (m.rows[k][j] - m.rows[j][k]) * s;
|
|
temp[j] = (m.rows[j][i] + m.rows[i][j]) * s;
|
|
temp[k] = (m.rows[k][i] + m.rows[i][k]) * s;
|
|
}
|
|
|
|
return Quaternion(temp[0], temp[1], temp[2], temp[3]);
|
|
}
|
|
|
|
void Basis::get_axis_angle(Vector3 &r_axis, real_t &r_angle) const {
|
|
/* checking this is a bad idea, because obtaining from scaled transform is a valid use case
|
|
#ifdef MATH_CHECKS
|
|
ERR_FAIL_COND(!is_rotation());
|
|
#endif
|
|
*/
|
|
|
|
// https://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToAngle/index.htm
|
|
real_t x, y, z; // Variables for result.
|
|
if (Math::is_zero_approx(rows[0][1] - rows[1][0]) && Math::is_zero_approx(rows[0][2] - rows[2][0]) && Math::is_zero_approx(rows[1][2] - rows[2][1])) {
|
|
// Singularity found.
|
|
// First check for identity matrix which must have +1 for all terms in leading diagonal and zero in other terms.
|
|
if (is_diagonal() && (Math::abs(rows[0][0] + rows[1][1] + rows[2][2] - 3) < 3 * CMP_EPSILON)) {
|
|
// This singularity is identity matrix so angle = 0.
|
|
r_axis = Vector3(0, 1, 0);
|
|
r_angle = 0;
|
|
return;
|
|
}
|
|
// Otherwise this singularity is angle = 180.
|
|
real_t xx = (rows[0][0] + 1) / 2;
|
|
real_t yy = (rows[1][1] + 1) / 2;
|
|
real_t zz = (rows[2][2] + 1) / 2;
|
|
real_t xy = (rows[0][1] + rows[1][0]) / 4;
|
|
real_t xz = (rows[0][2] + rows[2][0]) / 4;
|
|
real_t yz = (rows[1][2] + rows[2][1]) / 4;
|
|
|
|
if ((xx > yy) && (xx > zz)) { // rows[0][0] is the largest diagonal term.
|
|
if (xx < CMP_EPSILON) {
|
|
x = 0;
|
|
y = Math_SQRT12;
|
|
z = Math_SQRT12;
|
|
} else {
|
|
x = Math::sqrt(xx);
|
|
y = xy / x;
|
|
z = xz / x;
|
|
}
|
|
} else if (yy > zz) { // rows[1][1] is the largest diagonal term.
|
|
if (yy < CMP_EPSILON) {
|
|
x = Math_SQRT12;
|
|
y = 0;
|
|
z = Math_SQRT12;
|
|
} else {
|
|
y = Math::sqrt(yy);
|
|
x = xy / y;
|
|
z = yz / y;
|
|
}
|
|
} else { // rows[2][2] is the largest diagonal term so base result on this.
|
|
if (zz < CMP_EPSILON) {
|
|
x = Math_SQRT12;
|
|
y = Math_SQRT12;
|
|
z = 0;
|
|
} else {
|
|
z = Math::sqrt(zz);
|
|
x = xz / z;
|
|
y = yz / z;
|
|
}
|
|
}
|
|
r_axis = Vector3(x, y, z);
|
|
r_angle = Math_PI;
|
|
return;
|
|
}
|
|
// As we have reached here there are no singularities so we can handle normally.
|
|
double s = Math::sqrt((rows[2][1] - rows[1][2]) * (rows[2][1] - rows[1][2]) + (rows[0][2] - rows[2][0]) * (rows[0][2] - rows[2][0]) + (rows[1][0] - rows[0][1]) * (rows[1][0] - rows[0][1])); // Used to normalize.
|
|
|
|
if (Math::abs(s) < CMP_EPSILON) {
|
|
// Prevent divide by zero, should not happen if matrix is orthogonal and should be caught by singularity test above.
|
|
s = 1;
|
|
}
|
|
|
|
x = (rows[2][1] - rows[1][2]) / s;
|
|
y = (rows[0][2] - rows[2][0]) / s;
|
|
z = (rows[1][0] - rows[0][1]) / s;
|
|
|
|
r_axis = Vector3(x, y, z);
|
|
// acos does clamping.
|
|
r_angle = Math::acos((rows[0][0] + rows[1][1] + rows[2][2] - 1) / 2);
|
|
}
|
|
|
|
void Basis::set_quaternion(const Quaternion &p_quaternion) {
|
|
real_t d = p_quaternion.length_squared();
|
|
real_t s = 2.0f / d;
|
|
real_t xs = p_quaternion.x * s, ys = p_quaternion.y * s, zs = p_quaternion.z * s;
|
|
real_t wx = p_quaternion.w * xs, wy = p_quaternion.w * ys, wz = p_quaternion.w * zs;
|
|
real_t xx = p_quaternion.x * xs, xy = p_quaternion.x * ys, xz = p_quaternion.x * zs;
|
|
real_t yy = p_quaternion.y * ys, yz = p_quaternion.y * zs, zz = p_quaternion.z * zs;
|
|
set(1.0f - (yy + zz), xy - wz, xz + wy,
|
|
xy + wz, 1.0f - (xx + zz), yz - wx,
|
|
xz - wy, yz + wx, 1.0f - (xx + yy));
|
|
}
|
|
|
|
void Basis::set_axis_angle(const Vector3 &p_axis, real_t p_angle) {
|
|
// Rotation matrix from axis and angle, see https://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_angle
|
|
#ifdef MATH_CHECKS
|
|
ERR_FAIL_COND_MSG(!p_axis.is_normalized(), "The axis Vector3 " + p_axis.operator String() + " must be normalized.");
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#endif
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Vector3 axis_sq(p_axis.x * p_axis.x, p_axis.y * p_axis.y, p_axis.z * p_axis.z);
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real_t cosine = Math::cos(p_angle);
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rows[0][0] = axis_sq.x + cosine * (1.0f - axis_sq.x);
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rows[1][1] = axis_sq.y + cosine * (1.0f - axis_sq.y);
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rows[2][2] = axis_sq.z + cosine * (1.0f - axis_sq.z);
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real_t sine = Math::sin(p_angle);
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real_t t = 1 - cosine;
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real_t xyzt = p_axis.x * p_axis.y * t;
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real_t zyxs = p_axis.z * sine;
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rows[0][1] = xyzt - zyxs;
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rows[1][0] = xyzt + zyxs;
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xyzt = p_axis.x * p_axis.z * t;
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zyxs = p_axis.y * sine;
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rows[0][2] = xyzt + zyxs;
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rows[2][0] = xyzt - zyxs;
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xyzt = p_axis.y * p_axis.z * t;
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zyxs = p_axis.x * sine;
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rows[1][2] = xyzt - zyxs;
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rows[2][1] = xyzt + zyxs;
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}
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void Basis::set_axis_angle_scale(const Vector3 &p_axis, real_t p_angle, const Vector3 &p_scale) {
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_set_diagonal(p_scale);
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rotate(p_axis, p_angle);
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}
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void Basis::set_euler_scale(const Vector3 &p_euler, const Vector3 &p_scale, EulerOrder p_order) {
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_set_diagonal(p_scale);
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rotate(p_euler, p_order);
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}
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|
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void Basis::set_quaternion_scale(const Quaternion &p_quaternion, const Vector3 &p_scale) {
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_set_diagonal(p_scale);
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rotate(p_quaternion);
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}
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|
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// 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) {
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rows[0][0] = p_diag.x;
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rows[0][1] = 0;
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rows[0][2] = 0;
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|
|
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rows[1][0] = 0;
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rows[1][1] = p_diag.y;
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rows[1][2] = 0;
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|
|
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rows[2][0] = 0;
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rows[2][1] = 0;
|
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rows[2][2] = p_diag.z;
|
|
}
|
|
|
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Basis Basis::lerp(const Basis &p_to, real_t p_weight) const {
|
|
Basis b;
|
|
b.rows[0] = rows[0].lerp(p_to.rows[0], p_weight);
|
|
b.rows[1] = rows[1].lerp(p_to.rows[1], p_weight);
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|
b.rows[2] = rows[2].lerp(p_to.rows[2], p_weight);
|
|
|
|
return b;
|
|
}
|
|
|
|
Basis Basis::slerp(const Basis &p_to, real_t p_weight) const {
|
|
//consider scale
|
|
Quaternion from(*this);
|
|
Quaternion to(p_to);
|
|
|
|
Basis b(from.slerp(to, p_weight));
|
|
b.rows[0] *= Math::lerp(rows[0].length(), p_to.rows[0].length(), p_weight);
|
|
b.rows[1] *= Math::lerp(rows[1].length(), p_to.rows[1].length(), p_weight);
|
|
b.rows[2] *= Math::lerp(rows[2].length(), p_to.rows[2].length(), p_weight);
|
|
|
|
return b;
|
|
}
|
|
|
|
void Basis::rotate_sh(real_t *p_values) {
|
|
// code by John Hable
|
|
// http://filmicworlds.com/blog/simple-and-fast-spherical-harmonic-rotation/
|
|
// this code is Public Domain
|
|
|
|
const static real_t s_c3 = 0.94617469575; // (3*sqrt(5))/(4*sqrt(pi))
|
|
const static real_t s_c4 = -0.31539156525; // (-sqrt(5))/(4*sqrt(pi))
|
|
const static real_t s_c5 = 0.54627421529; // (sqrt(15))/(4*sqrt(pi))
|
|
|
|
const static real_t s_c_scale = 1.0 / 0.91529123286551084;
|
|
const static real_t s_c_scale_inv = 0.91529123286551084;
|
|
|
|
const static real_t s_rc2 = 1.5853309190550713 * s_c_scale;
|
|
const static real_t s_c4_div_c3 = s_c4 / s_c3;
|
|
const static real_t s_c4_div_c3_x2 = (s_c4 / s_c3) * 2.0;
|
|
|
|
const static real_t s_scale_dst2 = s_c3 * s_c_scale_inv;
|
|
const static real_t s_scale_dst4 = s_c5 * s_c_scale_inv;
|
|
|
|
const real_t src[9] = { p_values[0], p_values[1], p_values[2], p_values[3], p_values[4], p_values[5], p_values[6], p_values[7], p_values[8] };
|
|
|
|
real_t m00 = rows[0][0];
|
|
real_t m01 = rows[0][1];
|
|
real_t m02 = rows[0][2];
|
|
real_t m10 = rows[1][0];
|
|
real_t m11 = rows[1][1];
|
|
real_t m12 = rows[1][2];
|
|
real_t m20 = rows[2][0];
|
|
real_t m21 = rows[2][1];
|
|
real_t m22 = rows[2][2];
|
|
|
|
p_values[0] = src[0];
|
|
p_values[1] = m11 * src[1] - m12 * src[2] + m10 * src[3];
|
|
p_values[2] = -m21 * src[1] + m22 * src[2] - m20 * src[3];
|
|
p_values[3] = m01 * src[1] - m02 * src[2] + m00 * src[3];
|
|
|
|
real_t sh0 = src[7] + src[8] + src[8] - src[5];
|
|
real_t sh1 = src[4] + s_rc2 * src[6] + src[7] + src[8];
|
|
real_t sh2 = src[4];
|
|
real_t sh3 = -src[7];
|
|
real_t sh4 = -src[5];
|
|
|
|
// Rotations. R0 and R1 just use the raw matrix columns
|
|
real_t r2x = m00 + m01;
|
|
real_t r2y = m10 + m11;
|
|
real_t r2z = m20 + m21;
|
|
|
|
real_t r3x = m00 + m02;
|
|
real_t r3y = m10 + m12;
|
|
real_t r3z = m20 + m22;
|
|
|
|
real_t r4x = m01 + m02;
|
|
real_t r4y = m11 + m12;
|
|
real_t r4z = m21 + m22;
|
|
|
|
// dense matrix multiplication one column at a time
|
|
|
|
// column 0
|
|
real_t sh0_x = sh0 * m00;
|
|
real_t sh0_y = sh0 * m10;
|
|
real_t d0 = sh0_x * m10;
|
|
real_t d1 = sh0_y * m20;
|
|
real_t d2 = sh0 * (m20 * m20 + s_c4_div_c3);
|
|
real_t d3 = sh0_x * m20;
|
|
real_t d4 = sh0_x * m00 - sh0_y * m10;
|
|
|
|
// column 1
|
|
real_t sh1_x = sh1 * m02;
|
|
real_t sh1_y = sh1 * m12;
|
|
d0 += sh1_x * m12;
|
|
d1 += sh1_y * m22;
|
|
d2 += sh1 * (m22 * m22 + s_c4_div_c3);
|
|
d3 += sh1_x * m22;
|
|
d4 += sh1_x * m02 - sh1_y * m12;
|
|
|
|
// column 2
|
|
real_t sh2_x = sh2 * r2x;
|
|
real_t sh2_y = sh2 * r2y;
|
|
d0 += sh2_x * r2y;
|
|
d1 += sh2_y * r2z;
|
|
d2 += sh2 * (r2z * r2z + s_c4_div_c3_x2);
|
|
d3 += sh2_x * r2z;
|
|
d4 += sh2_x * r2x - sh2_y * r2y;
|
|
|
|
// column 3
|
|
real_t sh3_x = sh3 * r3x;
|
|
real_t sh3_y = sh3 * r3y;
|
|
d0 += sh3_x * r3y;
|
|
d1 += sh3_y * r3z;
|
|
d2 += sh3 * (r3z * r3z + s_c4_div_c3_x2);
|
|
d3 += sh3_x * r3z;
|
|
d4 += sh3_x * r3x - sh3_y * r3y;
|
|
|
|
// column 4
|
|
real_t sh4_x = sh4 * r4x;
|
|
real_t sh4_y = sh4 * r4y;
|
|
d0 += sh4_x * r4y;
|
|
d1 += sh4_y * r4z;
|
|
d2 += sh4 * (r4z * r4z + s_c4_div_c3_x2);
|
|
d3 += sh4_x * r4z;
|
|
d4 += sh4_x * r4x - sh4_y * r4y;
|
|
|
|
// extra multipliers
|
|
p_values[4] = d0;
|
|
p_values[5] = -d1;
|
|
p_values[6] = d2 * s_scale_dst2;
|
|
p_values[7] = -d3;
|
|
p_values[8] = d4 * s_scale_dst4;
|
|
}
|
|
|
|
Basis Basis::looking_at(const Vector3 &p_target, const Vector3 &p_up, bool p_use_model_front) {
|
|
#ifdef MATH_CHECKS
|
|
ERR_FAIL_COND_V_MSG(p_target.is_zero_approx(), Basis(), "The target vector can't be zero.");
|
|
ERR_FAIL_COND_V_MSG(p_up.is_zero_approx(), Basis(), "The up vector can't be zero.");
|
|
#endif
|
|
Vector3 v_z = p_target.normalized();
|
|
if (!p_use_model_front) {
|
|
v_z = -v_z;
|
|
}
|
|
Vector3 v_x = p_up.cross(v_z);
|
|
#ifdef MATH_CHECKS
|
|
ERR_FAIL_COND_V_MSG(v_x.is_zero_approx(), Basis(), "The target vector and up vector can't be parallel to each other.");
|
|
#endif
|
|
v_x.normalize();
|
|
Vector3 v_y = v_z.cross(v_x);
|
|
|
|
Basis basis;
|
|
basis.set_columns(v_x, v_y, v_z);
|
|
return basis;
|
|
}
|