Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Update Basis/Transform3D/Quaternion to match the engine #859

Merged
merged 1 commit into from
Oct 4, 2022
Merged

Update Basis/Transform3D/Quaternion to match the engine #859

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
21 changes: 21 additions & 0 deletions include/godot_cpp/core/math.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -537,6 +537,27 @@ inline bool is_zero_approx(double s) {
return abs(s) < CMP_EPSILON;
}

inline float absf(float g) {
union {
float f;
uint32_t i;
} u;

u.f = g;
u.i &= 2147483647u;
return u.f;
}

inline double absd(double g) {
union {
double d;
uint64_t i;
} u;
u.d = g;
u.i &= (uint64_t)9223372036854775807ull;
return u.d;
}

inline double smoothstep(double p_from, double p_to, double p_weight) {
if (is_equal_approx(static_cast<real_t>(p_from), static_cast<real_t>(p_to))) {
return p_from;
Expand Down
202 changes: 96 additions & 106 deletions include/godot_cpp/variant/basis.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -49,10 +49,10 @@ class Basis {
Vector3(0, 0, 1)
};

inline const Vector3 &operator[](int axis) const {
_FORCE_INLINE_ const Vector3 &operator[](int axis) const {
return rows[axis];
}
inline Vector3 &operator[](int axis) {
_FORCE_INLINE_ Vector3 &operator[](int axis) {
return rows[axis];
}

Expand All @@ -62,93 +62,82 @@ class Basis {
Basis inverse() const;
Basis transposed() const;

inline real_t determinant() const;
_FORCE_INLINE_ real_t determinant() const;

void from_z(const Vector3 &p_z);
enum EulerOrder {
EULER_ORDER_XYZ,
EULER_ORDER_XZY,
EULER_ORDER_YXZ,
EULER_ORDER_YZX,
EULER_ORDER_ZXY,
EULER_ORDER_ZYX
};

inline Vector3 get_axis(int p_axis) const {
// get actual basis axis (rows is transposed for performance)
return Vector3(rows[0][p_axis], rows[1][p_axis], rows[2][p_axis]);
}
inline void set_axis(int p_axis, const Vector3 &p_value) {
// get actual basis axis (rows is transposed for performance)
rows[0][p_axis] = p_value.x;
rows[1][p_axis] = p_value.y;
rows[2][p_axis] = p_value.z;
}
void from_z(const Vector3 &p_z);

void rotate(const Vector3 &p_axis, real_t p_phi);
Basis rotated(const Vector3 &p_axis, real_t p_phi) const;
void rotate(const Vector3 &p_axis, real_t p_angle);
Basis rotated(const Vector3 &p_axis, real_t p_angle) const;

void rotate_local(const Vector3 &p_axis, real_t p_phi);
Basis rotated_local(const Vector3 &p_axis, real_t p_phi) const;
void rotate_local(const Vector3 &p_axis, real_t p_angle);
Basis rotated_local(const Vector3 &p_axis, real_t p_angle) const;

void rotate(const Vector3 &p_euler);
Basis rotated(const Vector3 &p_euler) const;
void rotate(const Vector3 &p_euler, EulerOrder p_order = EULER_ORDER_YXZ);
Basis rotated(const Vector3 &p_euler, EulerOrder p_order = EULER_ORDER_YXZ) const;

void rotate(const Quaternion &p_quat);
Basis rotated(const Quaternion &p_quat) const;
void rotate(const Quaternion &p_quaternion);
Basis rotated(const Quaternion &p_quaternion) const;

Vector3 get_rotation_euler() const;
Vector3 get_euler_normalized(EulerOrder p_order = EULER_ORDER_YXZ) const;
void get_rotation_axis_angle(Vector3 &p_axis, real_t &p_angle) const;
void get_rotation_axis_angle_local(Vector3 &p_axis, real_t &p_angle) const;
Quaternion get_rotation_quaternion() const;
Vector3 get_rotation() const { return get_rotation_euler(); };

Vector3 rotref_posscale_decomposition(Basis &rotref) const;
void rotate_to_align(Vector3 p_start_direction, Vector3 p_end_direction);

Vector3 get_euler_xyz() const;
void set_euler_xyz(const Vector3 &p_euler);

Vector3 get_euler_xzy() const;
void set_euler_xzy(const Vector3 &p_euler);

Vector3 get_euler_yzx() const;
void set_euler_yzx(const Vector3 &p_euler);

Vector3 get_euler_yxz() const;
void set_euler_yxz(const Vector3 &p_euler);

Vector3 get_euler_zxy() const;
void set_euler_zxy(const Vector3 &p_euler);
Vector3 rotref_posscale_decomposition(Basis &rotref) const;

Vector3 get_euler_zyx() const;
void set_euler_zyx(const Vector3 &p_euler);
Vector3 get_euler(EulerOrder p_order = EULER_ORDER_YXZ) const;
void set_euler(const Vector3 &p_euler, EulerOrder p_order = EULER_ORDER_YXZ);
static Basis from_euler(const Vector3 &p_euler, EulerOrder p_order = EULER_ORDER_YXZ) {
Basis b;
b.set_euler(p_euler, p_order);
return b;
}

Quaternion get_quaternion() const;
void set_quaternion(const Quaternion &p_quat);

Vector3 get_euler() const { return get_euler_yxz(); }
void set_euler(const Vector3 &p_euler) { set_euler_yxz(p_euler); }
void set_quaternion(const Quaternion &p_quaternion);

void get_axis_angle(Vector3 &r_axis, real_t &r_angle) const;
void set_axis_angle(const Vector3 &p_axis, real_t p_phi);
void set_axis_angle(const Vector3 &p_axis, real_t p_angle);

void scale(const Vector3 &p_scale);
Basis scaled(const Vector3 &p_scale) const;

void scale_local(const Vector3 &p_scale);
Basis scaled_local(const Vector3 &p_scale) const;

void scale_orthogonal(const Vector3 &p_scale);
Basis scaled_orthogonal(const Vector3 &p_scale) const;

void make_scale_uniform();
float get_uniform_scale() const;

Vector3 get_scale() const;
Vector3 get_scale_abs() const;
Vector3 get_scale_local() const;

void set_axis_angle_scale(const Vector3 &p_axis, real_t p_phi, const Vector3 &p_scale);
void set_euler_scale(const Vector3 &p_euler, const Vector3 &p_scale);
void set_quaternion_scale(const Quaternion &p_quat, const Vector3 &p_scale);
void set_axis_angle_scale(const Vector3 &p_axis, real_t p_angle, const Vector3 &p_scale);
void set_euler_scale(const Vector3 &p_euler, const Vector3 &p_scale, EulerOrder p_order = EULER_ORDER_YXZ);
void set_quaternion_scale(const Quaternion &p_quaternion, const Vector3 &p_scale);

// transposed dot products
inline real_t tdotx(const Vector3 &v) const {
_FORCE_INLINE_ real_t tdotx(const Vector3 &v) const {
return rows[0][0] * v[0] + rows[1][0] * v[1] + rows[2][0] * v[2];
}
inline real_t tdoty(const Vector3 &v) const {
_FORCE_INLINE_ real_t tdoty(const Vector3 &v) const {
return rows[0][1] * v[0] + rows[1][1] * v[1] + rows[2][1] * v[2];
}
inline real_t tdotz(const Vector3 &v) const {
_FORCE_INLINE_ real_t tdotz(const Vector3 &v) const {
return rows[0][2] * v[0] + rows[1][2] * v[1] + rows[2][2] * v[2];
}

Expand All @@ -157,34 +146,30 @@ class Basis {
bool operator==(const Basis &p_matrix) const;
bool operator!=(const Basis &p_matrix) const;

inline Vector3 xform(const Vector3 &p_vector) const;
inline Vector3 xform_inv(const Vector3 &p_vector) const;
inline void operator*=(const Basis &p_matrix);
inline Basis operator*(const Basis &p_matrix) const;
inline void operator+=(const Basis &p_matrix);
inline Basis operator+(const Basis &p_matrix) const;
inline void operator-=(const Basis &p_matrix);
inline Basis operator-(const Basis &p_matrix) const;
inline void operator*=(real_t p_val);
inline Basis operator*(real_t p_val) const;

int get_orthogonal_index() const;
void set_orthogonal_index(int p_index);

void set_diagonal(const Vector3 &p_diag);
_FORCE_INLINE_ Vector3 xform(const Vector3 &p_vector) const;
_FORCE_INLINE_ Vector3 xform_inv(const Vector3 &p_vector) const;
_FORCE_INLINE_ void operator*=(const Basis &p_matrix);
_FORCE_INLINE_ Basis operator*(const Basis &p_matrix) const;
_FORCE_INLINE_ void operator+=(const Basis &p_matrix);
_FORCE_INLINE_ Basis operator+(const Basis &p_matrix) const;
_FORCE_INLINE_ void operator-=(const Basis &p_matrix);
_FORCE_INLINE_ Basis operator-(const Basis &p_matrix) const;
_FORCE_INLINE_ void operator*=(const real_t p_val);
_FORCE_INLINE_ Basis operator*(const real_t p_val) const;

bool is_orthogonal() const;
bool is_diagonal() const;
bool is_rotation() const;

Basis lerp(const Basis &p_to, const real_t &p_weight) const;
Basis slerp(const Basis &p_to, const real_t &p_weight) const;
void rotate_sh(real_t *p_values);

operator String() const;

/* create / set */

inline void set(real_t xx, real_t xy, real_t xz, real_t yx, real_t yy, real_t yz, real_t zx, real_t zy, real_t zz) {
_FORCE_INLINE_ void set(real_t xx, real_t xy, real_t xz, real_t yx, real_t yy, real_t yz, real_t zx, real_t zy, real_t zz) {
rows[0][0] = xx;
rows[0][1] = xy;
rows[0][2] = xz;
Expand All @@ -195,35 +180,35 @@ class Basis {
rows[2][1] = zy;
rows[2][2] = zz;
}
inline void set(const Vector3 &p_x, const Vector3 &p_y, const Vector3 &p_z) {
set_axis(0, p_x);
set_axis(1, p_y);
set_axis(2, p_z);
}
inline Vector3 get_column(int i) const {
return Vector3(rows[0][i], rows[1][i], rows[2][i]);
_FORCE_INLINE_ void set_columns(const Vector3 &p_x, const Vector3 &p_y, const Vector3 &p_z) {
set_column(0, p_x);
set_column(1, p_y);
set_column(2, p_z);
}

inline Vector3 get_row(int i) const {
return Vector3(rows[i][0], rows[i][1], rows[i][2]);
_FORCE_INLINE_ Vector3 get_column(int p_index) const {
// Get actual basis axis column (we store transposed as rows for performance).
return Vector3(rows[0][p_index], rows[1][p_index], rows[2][p_index]);
}
inline Vector3 get_main_diagonal() const {
return Vector3(rows[0][0], rows[1][1], rows[2][2]);

_FORCE_INLINE_ void set_column(int p_index, const Vector3 &p_value) {
// Set actual basis axis column (we store transposed as rows for performance).
rows[0][p_index] = p_value.x;
rows[1][p_index] = p_value.y;
rows[2][p_index] = p_value.z;
}

inline void set_row(int i, const Vector3 &p_row) {
rows[i][0] = p_row.x;
rows[i][1] = p_row.y;
rows[i][2] = p_row.z;
_FORCE_INLINE_ Vector3 get_main_diagonal() const {
return Vector3(rows[0][0], rows[1][1], rows[2][2]);
}

inline void set_zero() {
_FORCE_INLINE_ void set_zero() {
rows[0].zero();
rows[1].zero();
rows[2].zero();
}

inline Basis transpose_xform(const Basis &m) const {
_FORCE_INLINE_ Basis transpose_xform(const Basis &m) const {
return Basis(
rows[0].x * m[0].x + rows[1].x * m[1].x + rows[2].x * m[2].x,
rows[0].x * m[0].y + rows[1].x * m[1].y + rows[2].x * m[2].y,
Expand All @@ -242,76 +227,81 @@ class Basis {
void orthonormalize();
Basis orthonormalized() const;

void orthogonalize();
Basis orthogonalized() const;

#ifdef MATH_CHECKS
bool is_symmetric() const;
#endif
Basis diagonalize();

operator Quaternion() const { return get_quaternion(); }

Basis(const Quaternion &p_quat) { set_quaternion(p_quat); };
Basis(const Quaternion &p_quat, const Vector3 &p_scale) { set_quaternion_scale(p_quat, p_scale); }
static Basis looking_at(const Vector3 &p_target, const Vector3 &p_up = Vector3(0, 1, 0));

Basis(const Vector3 &p_euler) { set_euler(p_euler); }
Basis(const Vector3 &p_euler, const Vector3 &p_scale) { set_euler_scale(p_euler, p_scale); }
Basis(const Quaternion &p_quaternion) { set_quaternion(p_quaternion); };
Basis(const Quaternion &p_quaternion, const Vector3 &p_scale) { set_quaternion_scale(p_quaternion, p_scale); }

Basis(const Vector3 &p_axis, real_t p_phi) { set_axis_angle(p_axis, p_phi); }
Basis(const Vector3 &p_axis, real_t p_phi, const Vector3 &p_scale) { set_axis_angle_scale(p_axis, p_phi, p_scale); }
Basis(const Vector3 &p_axis, real_t p_angle) { set_axis_angle(p_axis, p_angle); }
Basis(const Vector3 &p_axis, real_t p_angle, const Vector3 &p_scale) { set_axis_angle_scale(p_axis, p_angle, p_scale); }
static Basis from_scale(const Vector3 &p_scale);

inline Basis(const Vector3 &p_x, const Vector3 &p_y, const Vector3 &p_z) {
set_axis(0, p_x);
set_axis(1, p_y);
set_axis(2, p_z);
_FORCE_INLINE_ Basis(const Vector3 &p_x_axis, const Vector3 &p_y_axis, const Vector3 &p_z_axis) {
set_columns(p_x_axis, p_y_axis, p_z_axis);
}

inline Basis() {}
_FORCE_INLINE_ Basis() {}

private:
// Helper method.
void _set_diagonal(const Vector3 &p_diag);
};

inline void Basis::operator*=(const Basis &p_matrix) {
_FORCE_INLINE_ void Basis::operator*=(const Basis &p_matrix) {
set(
p_matrix.tdotx(rows[0]), p_matrix.tdoty(rows[0]), p_matrix.tdotz(rows[0]),
p_matrix.tdotx(rows[1]), p_matrix.tdoty(rows[1]), p_matrix.tdotz(rows[1]),
p_matrix.tdotx(rows[2]), p_matrix.tdoty(rows[2]), p_matrix.tdotz(rows[2]));
}

inline Basis Basis::operator*(const Basis &p_matrix) const {
_FORCE_INLINE_ Basis Basis::operator*(const Basis &p_matrix) const {
return Basis(
p_matrix.tdotx(rows[0]), p_matrix.tdoty(rows[0]), p_matrix.tdotz(rows[0]),
p_matrix.tdotx(rows[1]), p_matrix.tdoty(rows[1]), p_matrix.tdotz(rows[1]),
p_matrix.tdotx(rows[2]), p_matrix.tdoty(rows[2]), p_matrix.tdotz(rows[2]));
}

inline void Basis::operator+=(const Basis &p_matrix) {
_FORCE_INLINE_ void Basis::operator+=(const Basis &p_matrix) {
rows[0] += p_matrix.rows[0];
rows[1] += p_matrix.rows[1];
rows[2] += p_matrix.rows[2];
}

inline Basis Basis::operator+(const Basis &p_matrix) const {
_FORCE_INLINE_ Basis Basis::operator+(const Basis &p_matrix) const {
Basis ret(*this);
ret += p_matrix;
return ret;
}

inline void Basis::operator-=(const Basis &p_matrix) {
_FORCE_INLINE_ void Basis::operator-=(const Basis &p_matrix) {
rows[0] -= p_matrix.rows[0];
rows[1] -= p_matrix.rows[1];
rows[2] -= p_matrix.rows[2];
}

inline Basis Basis::operator-(const Basis &p_matrix) const {
_FORCE_INLINE_ Basis Basis::operator-(const Basis &p_matrix) const {
Basis ret(*this);
ret -= p_matrix;
return ret;
}

inline void Basis::operator*=(real_t p_val) {
_FORCE_INLINE_ void Basis::operator*=(const real_t p_val) {
rows[0] *= p_val;
rows[1] *= p_val;
rows[2] *= p_val;
}

inline Basis Basis::operator*(real_t p_val) const {
_FORCE_INLINE_ Basis Basis::operator*(const real_t p_val) const {
Basis ret(*this);
ret *= p_val;
return ret;
Expand All @@ -333,8 +323,8 @@ Vector3 Basis::xform_inv(const Vector3 &p_vector) const {

real_t Basis::determinant() const {
return rows[0][0] * (rows[1][1] * rows[2][2] - rows[2][1] * rows[1][2]) -
rows[1][0] * (rows[0][1] * rows[2][2] - rows[2][1] * rows[0][2]) +
rows[2][0] * (rows[0][1] * rows[1][2] - rows[1][1] * rows[0][2]);
rows[1][0] * (rows[0][1] * rows[2][2] - rows[2][1] * rows[0][2]) +
rows[2][0] * (rows[0][1] * rows[1][2] - rows[1][1] * rows[0][2]);
}

} // namespace godot
Expand Down
Loading