0316d50ece
The previous error message incorrectly suggested that any Basis could be fixed by calling get_rotation_quation() or orthonormalize(). This PR points out that only a valid rotation Basis can be fixed in this way.
(cherry picked from commit d3a3b3aff3)
1026 lines
32 KiB
C++
1026 lines
32 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) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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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/print_string.h"
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#define cofac(row1, col1, row2, col2) \
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(elements[row1][col1] * elements[row2][col2] - elements[row1][col2] * elements[row2][col1])
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void Basis::from_z(const Vector3 &p_z) {
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if (Math::abs(p_z.z) > Math_SQRT12) {
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// choose p in y-z plane
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real_t a = p_z[1] * p_z[1] + p_z[2] * p_z[2];
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real_t k = 1.0 / Math::sqrt(a);
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elements[0] = Vector3(0, -p_z[2] * k, p_z[1] * k);
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elements[1] = Vector3(a * k, -p_z[0] * elements[0][2], p_z[0] * elements[0][1]);
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} else {
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// choose p in x-y plane
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real_t a = p_z.x * p_z.x + p_z.y * p_z.y;
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real_t k = 1.0 / Math::sqrt(a);
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elements[0] = Vector3(-p_z.y * k, p_z.x * k, 0);
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elements[1] = Vector3(-p_z.z * elements[0].y, p_z.z * elements[0].x, a * k);
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}
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elements[2] = p_z;
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}
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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 = elements[0][0] * co[0] +
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elements[0][1] * co[1] +
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elements[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 = 1.0 / 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_axis(0);
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Vector3 y = get_axis(1);
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Vector3 z = get_axis(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_axis(0, x);
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set_axis(1, y);
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set_axis(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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bool Basis::is_orthogonal() const {
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Basis identity;
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Basis m = (*this) * transposed();
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return m.is_equal_approx(identity);
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}
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bool Basis::is_diagonal() const {
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return (
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Math::is_zero_approx(elements[0][1]) && Math::is_zero_approx(elements[0][2]) &&
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Math::is_zero_approx(elements[1][0]) && Math::is_zero_approx(elements[1][2]) &&
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Math::is_zero_approx(elements[2][0]) && Math::is_zero_approx(elements[2][1]));
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}
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bool Basis::is_rotation() const {
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return Math::is_equal_approx(determinant(), 1, (real_t)UNIT_EPSILON) && is_orthogonal();
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}
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bool Basis::is_symmetric() const {
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if (!Math::is_equal_approx_ratio(elements[0][1], elements[1][0], UNIT_EPSILON)) {
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return false;
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}
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if (!Math::is_equal_approx_ratio(elements[0][2], elements[2][0], UNIT_EPSILON)) {
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return false;
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}
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if (!Math::is_equal_approx_ratio(elements[1][2], elements[2][1], UNIT_EPSILON)) {
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return false;
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}
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return true;
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}
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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 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 = elements[0][1] * elements[0][1] + elements[0][2] * elements[0][2] + elements[1][2] * elements[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 > CMP_EPSILON2 && ite++ < ite_max) {
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real_t el01_2 = elements[0][1] * elements[0][1];
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real_t el02_2 = elements[0][2] * elements[0][2];
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real_t el12_2 = elements[1][2] * elements[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(elements[j][j], elements[i][i])) {
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angle = Math_PI / 4;
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} else {
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angle = 0.5 * Math::atan(2 * elements[i][j] / (elements[j][j] - elements[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.elements[i][i] = rot.elements[j][j] = Math::cos(angle);
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rot.elements[i][j] = -(rot.elements[j][i] = Math::sin(angle));
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// Update the off matrix norm
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off_matrix_norm_2 -= elements[i][j] * elements[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(elements[0][1], elements[1][0]);
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SWAP(elements[0][2], elements[2][0]);
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SWAP(elements[1][2], elements[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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// 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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elements[0][0] *= p_scale.x;
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elements[0][1] *= p_scale.x;
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elements[0][2] *= p_scale.x;
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elements[1][0] *= p_scale.y;
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elements[1][1] *= p_scale.y;
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elements[1][2] *= p_scale.y;
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elements[2][0] *= p_scale.z;
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elements[2][1] *= p_scale.z;
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elements[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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Basis Basis::scaled_local(const Vector3 &p_scale) const {
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Basis b;
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b.set_diagonal(p_scale);
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return (*this) * b;
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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(elements[0][0], elements[1][0], elements[2][0]).length(),
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Vector3(elements[0][1], elements[1][1], elements[2][1]).length(),
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Vector3(elements[0][2], elements[1][2], elements[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 = SGN(determinant());
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return det_sign * Vector3(elements[0].length(), elements[1].length(), elements[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 = SGN(determinant());
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return det_sign * Vector3(
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Vector3(elements[0][0], elements[1][0], elements[2][0]).length(),
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Vector3(elements[0][1], elements[1][1], elements[2][1]).length(),
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Vector3(elements[0][2], elements[1][2], elements[2][2]).length());
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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 a 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_phi) const {
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return Basis(p_axis, p_phi) * (*this);
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}
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void Basis::rotate(const Vector3 &p_axis, real_t p_phi) {
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*this = rotated(p_axis, p_phi);
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}
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void Basis::rotate_local(const Vector3 &p_axis, real_t p_phi) {
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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_phi);
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}
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Basis Basis::rotated_local(const Vector3 &p_axis, real_t p_phi) const {
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return (*this) * Basis(p_axis, p_phi);
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}
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Basis Basis::rotated(const Vector3 &p_euler) const {
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return Basis(p_euler) * (*this);
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}
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void Basis::rotate(const Vector3 &p_euler) {
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*this = rotated(p_euler);
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}
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Basis Basis::rotated(const Quat &p_quat) const {
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return Basis(p_quat) * (*this);
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}
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void Basis::rotate(const Quat &p_quat) {
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*this = rotated(p_quat);
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}
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Vector3 Basis::get_rotation_euler() 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();
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}
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Quat Basis::get_rotation_quat() 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_quat();
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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.
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m.scale(Vector3(-1, -1, -1));
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}
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m.get_axis_angle(p_axis, p_angle);
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}
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void Basis::get_rotation_axis_angle_local(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 = transposed();
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m.orthonormalize();
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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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m.get_axis_angle(p_axis, p_angle);
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p_angle = -p_angle;
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}
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// get_euler_xyz returns a vector containing the Euler angles in the format
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// (a1,a2,a3), where a3 is the angle of the first rotation, and a1 is the last
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// (following the convention they are commonly defined in the literature).
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//
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// The current implementation uses XYZ convention (Z is the first rotation),
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// so euler.z is the angle of the (first) rotation around Z axis and so on,
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//
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// And thus, assuming the matrix is a rotation matrix, this function returns
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// the angles in the decomposition R = X(a1).Y(a2).Z(a3) where Z(a) rotates
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// around the z-axis by a and so on.
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Vector3 Basis::get_euler_xyz() const {
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// Euler angles in XYZ convention.
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// See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
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//
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// rot = cy*cz -cy*sz sy
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// cz*sx*sy+cx*sz cx*cz-sx*sy*sz -cy*sx
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// -cx*cz*sy+sx*sz cz*sx+cx*sy*sz cx*cy
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Vector3 euler;
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real_t sy = elements[0][2];
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if (sy < (1.0 - CMP_EPSILON)) {
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if (sy > -(1.0 - CMP_EPSILON)) {
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// is this a pure Y rotation?
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if (elements[1][0] == 0.0 && elements[0][1] == 0.0 && elements[1][2] == 0 && elements[2][1] == 0 && elements[1][1] == 1) {
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// return the simplest form (human friendlier in editor and scripts)
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euler.x = 0;
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euler.y = atan2(elements[0][2], elements[0][0]);
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euler.z = 0;
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} else {
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euler.x = Math::atan2(-elements[1][2], elements[2][2]);
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euler.y = Math::asin(sy);
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euler.z = Math::atan2(-elements[0][1], elements[0][0]);
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}
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} else {
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euler.x = Math::atan2(elements[2][1], elements[1][1]);
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euler.y = -Math_PI / 2.0;
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euler.z = 0.0;
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}
|
|
} 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;
|
|
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;
|
|
}
|
|
|
|
return euler;
|
|
}
|
|
|
|
// 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) {
|
|
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 = 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;
|
|
}
|
|
} 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 {
|
|
return elements[0].is_equal_approx(p_basis.elements[0]) && elements[1].is_equal_approx(p_basis.elements[1]) && elements[2].is_equal_approx(p_basis.elements[2]);
|
|
}
|
|
|
|
bool Basis::is_equal_approx_ratio(const Basis &a, const Basis &b, real_t p_epsilon) const {
|
|
for (int i = 0; i < 3; i++) {
|
|
for (int j = 0; j < 3; j++) {
|
|
if (!Math::is_equal_approx_ratio(a.elements[i][j], b.elements[i][j], p_epsilon)) {
|
|
return false;
|
|
}
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
bool Basis::operator==(const Basis &p_matrix) const {
|
|
for (int i = 0; i < 3; i++) {
|
|
for (int j = 0; j < 3; j++) {
|
|
if (elements[i][j] != p_matrix.elements[i][j]) {
|
|
return false;
|
|
}
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
bool Basis::operator!=(const Basis &p_matrix) const {
|
|
return (!(*this == p_matrix));
|
|
}
|
|
|
|
Basis::operator String() const {
|
|
String mtx;
|
|
for (int i = 0; i < 3; i++) {
|
|
for (int j = 0; j < 3; j++) {
|
|
if (i != 0 || j != 0) {
|
|
mtx += ", ";
|
|
}
|
|
|
|
mtx += rtos(elements[i][j]);
|
|
}
|
|
}
|
|
|
|
return mtx;
|
|
}
|
|
|
|
Quat Basis::get_quat() const {
|
|
#ifdef MATH_CHECKS
|
|
ERR_FAIL_COND_V_MSG(!is_rotation(), Quat(), "Basis must be normalized in order to be casted to a Quaternion. Use get_rotation_quat() 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.elements[0][0] + m.elements[1][1] + m.elements[2][2];
|
|
real_t temp[4];
|
|
|
|
if (trace > 0.0) {
|
|
real_t s = Math::sqrt(trace + 1.0);
|
|
temp[3] = (s * 0.5);
|
|
s = 0.5 / s;
|
|
|
|
temp[0] = ((m.elements[2][1] - m.elements[1][2]) * s);
|
|
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 j = (i + 1) % 3;
|
|
int k = (i + 2) % 3;
|
|
|
|
real_t s = Math::sqrt(m.elements[i][i] - m.elements[j][j] - m.elements[k][k] + 1.0);
|
|
temp[i] = s * 0.5;
|
|
s = 0.5 / s;
|
|
|
|
temp[3] = (m.elements[k][j] - m.elements[j][k]) * s;
|
|
temp[j] = (m.elements[j][i] + m.elements[i][j]) * s;
|
|
temp[k] = (m.elements[k][i] + m.elements[i][k]) * s;
|
|
}
|
|
|
|
return Quat(temp[0], temp[1], temp[2], temp[3]);
|
|
}
|
|
|
|
static const Basis _ortho_bases[24] = {
|
|
Basis(1, 0, 0, 0, 1, 0, 0, 0, 1),
|
|
Basis(0, -1, 0, 1, 0, 0, 0, 0, 1),
|
|
Basis(-1, 0, 0, 0, -1, 0, 0, 0, 1),
|
|
Basis(0, 1, 0, -1, 0, 0, 0, 0, 1),
|
|
Basis(1, 0, 0, 0, 0, -1, 0, 1, 0),
|
|
Basis(0, 0, 1, 1, 0, 0, 0, 1, 0),
|
|
Basis(-1, 0, 0, 0, 0, 1, 0, 1, 0),
|
|
Basis(0, 0, -1, -1, 0, 0, 0, 1, 0),
|
|
Basis(1, 0, 0, 0, -1, 0, 0, 0, -1),
|
|
Basis(0, 1, 0, 1, 0, 0, 0, 0, -1),
|
|
Basis(-1, 0, 0, 0, 1, 0, 0, 0, -1),
|
|
Basis(0, -1, 0, -1, 0, 0, 0, 0, -1),
|
|
Basis(1, 0, 0, 0, 0, 1, 0, -1, 0),
|
|
Basis(0, 0, -1, 1, 0, 0, 0, -1, 0),
|
|
Basis(-1, 0, 0, 0, 0, -1, 0, -1, 0),
|
|
Basis(0, 0, 1, -1, 0, 0, 0, -1, 0),
|
|
Basis(0, 0, 1, 0, 1, 0, -1, 0, 0),
|
|
Basis(0, -1, 0, 0, 0, 1, -1, 0, 0),
|
|
Basis(0, 0, -1, 0, -1, 0, -1, 0, 0),
|
|
Basis(0, 1, 0, 0, 0, -1, -1, 0, 0),
|
|
Basis(0, 0, 1, 0, -1, 0, 1, 0, 0),
|
|
Basis(0, 1, 0, 0, 0, 1, 1, 0, 0),
|
|
Basis(0, 0, -1, 0, 1, 0, 1, 0, 0),
|
|
Basis(0, -1, 0, 0, 0, -1, 1, 0, 0)
|
|
};
|
|
|
|
int Basis::get_orthogonal_index() const {
|
|
//could be sped up if i come up with a way
|
|
Basis orth = *this;
|
|
for (int i = 0; i < 3; i++) {
|
|
for (int j = 0; j < 3; j++) {
|
|
real_t v = orth[i][j];
|
|
if (v > 0.5) {
|
|
v = 1.0;
|
|
} else if (v < -0.5) {
|
|
v = -1.0;
|
|
} else {
|
|
v = 0;
|
|
}
|
|
|
|
orth[i][j] = v;
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < 24; i++) {
|
|
if (_ortho_bases[i] == orth) {
|
|
return i;
|
|
}
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
void Basis::set_orthogonal_index(int p_index) {
|
|
//there only exist 24 orthogonal bases in r3
|
|
ERR_FAIL_INDEX(p_index, 24);
|
|
|
|
*this = _ortho_bases[p_index];
|
|
}
|
|
|
|
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
|
|
*/
|
|
real_t angle, x, y, z; // variables for result
|
|
real_t epsilon = 0.01; // margin to allow for rounding errors
|
|
real_t epsilon2 = 0.1; // margin to distinguish between 0 and 180 degrees
|
|
|
|
if ((Math::abs(elements[1][0] - elements[0][1]) < epsilon) && (Math::abs(elements[2][0] - elements[0][2]) < epsilon) && (Math::abs(elements[2][1] - elements[1][2]) < epsilon)) {
|
|
// singularity found
|
|
// first check for identity matrix which must have +1 for all terms
|
|
// in leading diagonaland zero in other terms
|
|
if ((Math::abs(elements[1][0] + elements[0][1]) < epsilon2) && (Math::abs(elements[2][0] + elements[0][2]) < epsilon2) && (Math::abs(elements[2][1] + elements[1][2]) < epsilon2) && (Math::abs(elements[0][0] + elements[1][1] + elements[2][2] - 3) < epsilon2)) {
|
|
// this singularity is identity matrix so angle = 0
|
|
r_axis = Vector3(0, 1, 0);
|
|
r_angle = 0;
|
|
return;
|
|
}
|
|
// otherwise this singularity is angle = 180
|
|
angle = Math_PI;
|
|
real_t xx = (elements[0][0] + 1) / 2;
|
|
real_t yy = (elements[1][1] + 1) / 2;
|
|
real_t zz = (elements[2][2] + 1) / 2;
|
|
real_t xy = (elements[1][0] + elements[0][1]) / 4;
|
|
real_t xz = (elements[2][0] + elements[0][2]) / 4;
|
|
real_t yz = (elements[2][1] + elements[1][2]) / 4;
|
|
if ((xx > yy) && (xx > zz)) { // elements[0][0] is the largest diagonal term
|
|
if (xx < epsilon) {
|
|
x = 0;
|
|
y = Math_SQRT12;
|
|
z = Math_SQRT12;
|
|
} else {
|
|
x = Math::sqrt(xx);
|
|
y = xy / x;
|
|
z = xz / x;
|
|
}
|
|
} else if (yy > zz) { // elements[1][1] is the largest diagonal term
|
|
if (yy < epsilon) {
|
|
x = Math_SQRT12;
|
|
y = 0;
|
|
z = Math_SQRT12;
|
|
} else {
|
|
y = Math::sqrt(yy);
|
|
x = xy / y;
|
|
z = yz / y;
|
|
}
|
|
} else { // elements[2][2] is the largest diagonal term so base result on this
|
|
if (zz < 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 = angle;
|
|
return;
|
|
}
|
|
// as we have reached here there are no singularities so we can handle normally
|
|
real_t s = Math::sqrt((elements[1][2] - elements[2][1]) * (elements[1][2] - elements[2][1]) + (elements[2][0] - elements[0][2]) * (elements[2][0] - elements[0][2]) + (elements[0][1] - elements[1][0]) * (elements[0][1] - elements[1][0])); // s=|axis||sin(angle)|, used to normalise
|
|
|
|
angle = Math::acos((elements[0][0] + elements[1][1] + elements[2][2] - 1) / 2);
|
|
if (angle < 0) {
|
|
s = -s;
|
|
}
|
|
x = (elements[2][1] - elements[1][2]) / s;
|
|
y = (elements[0][2] - elements[2][0]) / s;
|
|
z = (elements[1][0] - elements[0][1]) / s;
|
|
|
|
r_axis = Vector3(x, y, z);
|
|
r_angle = angle;
|
|
}
|
|
|
|
void Basis::set_quat(const Quat &p_quat) {
|
|
real_t d = p_quat.length_squared();
|
|
real_t s = 2.0 / d;
|
|
real_t xs = p_quat.x * s, ys = p_quat.y * s, zs = p_quat.z * s;
|
|
real_t wx = p_quat.w * xs, wy = p_quat.w * ys, wz = p_quat.w * zs;
|
|
real_t xx = p_quat.x * xs, xy = p_quat.x * ys, xz = p_quat.x * zs;
|
|
real_t yy = p_quat.y * ys, yz = p_quat.y * zs, zz = p_quat.z * zs;
|
|
set(1.0 - (yy + zz), xy - wz, xz + wy,
|
|
xy + wz, 1.0 - (xx + zz), yz - wx,
|
|
xz - wy, yz + wx, 1.0 - (xx + yy));
|
|
}
|
|
|
|
void Basis::set_axis_angle(const Vector3 &p_axis, real_t p_phi) {
|
|
// 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 must be normalized.");
|
|
#endif
|
|
Vector3 axis_sq(p_axis.x * p_axis.x, p_axis.y * p_axis.y, p_axis.z * p_axis.z);
|
|
real_t cosine = Math::cos(p_phi);
|
|
elements[0][0] = axis_sq.x + cosine * (1.0 - axis_sq.x);
|
|
elements[1][1] = axis_sq.y + cosine * (1.0 - axis_sq.y);
|
|
elements[2][2] = axis_sq.z + cosine * (1.0 - axis_sq.z);
|
|
|
|
real_t sine = Math::sin(p_phi);
|
|
real_t t = 1 - cosine;
|
|
|
|
real_t xyzt = p_axis.x * p_axis.y * t;
|
|
real_t zyxs = p_axis.z * sine;
|
|
elements[0][1] = xyzt - zyxs;
|
|
elements[1][0] = xyzt + zyxs;
|
|
|
|
xyzt = p_axis.x * p_axis.z * t;
|
|
zyxs = p_axis.y * sine;
|
|
elements[0][2] = xyzt + zyxs;
|
|
elements[2][0] = xyzt - zyxs;
|
|
|
|
xyzt = p_axis.y * p_axis.z * t;
|
|
zyxs = p_axis.x * sine;
|
|
elements[1][2] = xyzt - zyxs;
|
|
elements[2][1] = xyzt + zyxs;
|
|
}
|
|
|
|
void Basis::set_axis_angle_scale(const Vector3 &p_axis, real_t p_phi, const Vector3 &p_scale) {
|
|
set_diagonal(p_scale);
|
|
rotate(p_axis, p_phi);
|
|
}
|
|
|
|
void Basis::set_euler_scale(const Vector3 &p_euler, const Vector3 &p_scale) {
|
|
set_diagonal(p_scale);
|
|
rotate(p_euler);
|
|
}
|
|
|
|
void Basis::set_quat_scale(const Quat &p_quat, const Vector3 &p_scale) {
|
|
set_diagonal(p_scale);
|
|
rotate(p_quat);
|
|
}
|
|
|
|
void Basis::set_diagonal(const Vector3 &p_diag) {
|
|
elements[0][0] = p_diag.x;
|
|
elements[0][1] = 0;
|
|
elements[0][2] = 0;
|
|
|
|
elements[1][0] = 0;
|
|
elements[1][1] = p_diag.y;
|
|
elements[1][2] = 0;
|
|
|
|
elements[2][0] = 0;
|
|
elements[2][1] = 0;
|
|
elements[2][2] = p_diag.z;
|
|
}
|
|
|
|
Basis Basis::slerp(const Basis &p_to, const real_t &p_weight) const {
|
|
//consider scale
|
|
Quat from(*this);
|
|
Quat to(p_to);
|
|
|
|
Basis b(from.slerp(to, p_weight));
|
|
b.elements[0] *= Math::lerp(elements[0].length(), p_to.elements[0].length(), p_weight);
|
|
b.elements[1] *= Math::lerp(elements[1].length(), p_to.elements[1].length(), p_weight);
|
|
b.elements[2] *= Math::lerp(elements[2].length(), p_to.elements[2].length(), p_weight);
|
|
|
|
return b;
|
|
}
|