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Renamed elements in Basis to rows.

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Relintai 2022-08-13 19:07:59 +02:00
parent c991043c95
commit d9e094ab9a
21 changed files with 519 additions and 519 deletions
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8
core/io/marshalls.cpp
View File

@ -319,7 +319,7 @@ Error decode_variant(Variant &r_variant, const uint8_t *p_buffer, int p_len, int
Basis val;
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
val.elements[i][j] = decode_float(&buf[(i * 3 + j) * 4]);
val.rows[i][j] = decode_float(&buf[(i * 3 + j) * 4]);
}
}
@ -335,7 +335,7 @@ Error decode_variant(Variant &r_variant, const uint8_t *p_buffer, int p_len, int
Transform val;
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
val.basis.elements[i][j] = decode_float(&buf[(i * 3 + j) * 4]);
val.basis.rows[i][j] = decode_float(&buf[(i * 3 + j) * 4]);
}
}
val.origin[0] = decode_float(&buf[36]);
@ -1144,7 +1144,7 @@ Error encode_variant(const Variant &p_variant, uint8_t *r_buffer, int &r_len, bo
Basis val = p_variant;
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
memcpy(&buf[(i * 3 + j) * 4], &val.elements[i][j], sizeof(float));
memcpy(&buf[(i * 3 + j) * 4], &val.rows[i][j], sizeof(float));
}
}
}
@ -1157,7 +1157,7 @@ Error encode_variant(const Variant &p_variant, uint8_t *r_buffer, int &r_len, bo
Transform val = p_variant;
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
memcpy(&buf[(i * 3 + j) * 4], &val.basis.elements[i][j], sizeof(float));
memcpy(&buf[(i * 3 + j) * 4], &val.basis.rows[i][j], sizeof(float));
}
}

72
core/io/resource_format_binary.cpp
View File

@ -239,29 +239,29 @@ Error ResourceInteractiveLoaderBinary::parse_variant(Variant &r_v) {
} break;
case VARIANT_MATRIX3: {
Basis v;
v.elements[0].x = f->get_real();
v.elements[0].y = f->get_real();
v.elements[0].z = f->get_real();
v.elements[1].x = f->get_real();
v.elements[1].y = f->get_real();
v.elements[1].z = f->get_real();
v.elements[2].x = f->get_real();
v.elements[2].y = f->get_real();
v.elements[2].z = f->get_real();
v.rows[0].x = f->get_real();
v.rows[0].y = f->get_real();
v.rows[0].z = f->get_real();
v.rows[1].x = f->get_real();
v.rows[1].y = f->get_real();
v.rows[1].z = f->get_real();
v.rows[2].x = f->get_real();
v.rows[2].y = f->get_real();
v.rows[2].z = f->get_real();
r_v = v;
} break;
case VARIANT_TRANSFORM: {
Transform v;
v.basis.elements[0].x = f->get_real();
v.basis.elements[0].y = f->get_real();
v.basis.elements[0].z = f->get_real();
v.basis.elements[1].x = f->get_real();
v.basis.elements[1].y = f->get_real();
v.basis.elements[1].z = f->get_real();
v.basis.elements[2].x = f->get_real();
v.basis.elements[2].y = f->get_real();
v.basis.elements[2].z = f->get_real();
v.basis.rows[0].x = f->get_real();
v.basis.rows[0].y = f->get_real();
v.basis.rows[0].z = f->get_real();
v.basis.rows[1].x = f->get_real();
v.basis.rows[1].y = f->get_real();
v.basis.rows[1].z = f->get_real();
v.basis.rows[2].x = f->get_real();
v.basis.rows[2].y = f->get_real();
v.basis.rows[2].z = f->get_real();
v.origin.x = f->get_real();
v.origin.y = f->get_real();
v.origin.z = f->get_real();
@ -1436,30 +1436,30 @@ void ResourceFormatSaverBinaryInstance::write_variant(FileAccess *f, const Varia
case Variant::BASIS: {
f->store_32(VARIANT_MATRIX3);
Basis val = p_property;
f->store_real(val.elements[0].x);
f->store_real(val.elements[0].y);
f->store_real(val.elements[0].z);
f->store_real(val.elements[1].x);
f->store_real(val.elements[1].y);
f->store_real(val.elements[1].z);
f->store_real(val.elements[2].x);
f->store_real(val.elements[2].y);
f->store_real(val.elements[2].z);
f->store_real(val.rows[0].x);
f->store_real(val.rows[0].y);
f->store_real(val.rows[0].z);
f->store_real(val.rows[1].x);
f->store_real(val.rows[1].y);
f->store_real(val.rows[1].z);
f->store_real(val.rows[2].x);
f->store_real(val.rows[2].y);
f->store_real(val.rows[2].z);
} break;
case Variant::TRANSFORM: {
f->store_32(VARIANT_TRANSFORM);
Transform val = p_property;
f->store_real(val.basis.elements[0].x);
f->store_real(val.basis.elements[0].y);
f->store_real(val.basis.elements[0].z);
f->store_real(val.basis.elements[1].x);
f->store_real(val.basis.elements[1].y);
f->store_real(val.basis.elements[1].z);
f->store_real(val.basis.elements[2].x);
f->store_real(val.basis.elements[2].y);
f->store_real(val.basis.elements[2].z);
f->store_real(val.basis.rows[0].x);
f->store_real(val.basis.rows[0].y);
f->store_real(val.basis.rows[0].z);
f->store_real(val.basis.rows[1].x);
f->store_real(val.basis.rows[1].y);
f->store_real(val.basis.rows[1].z);
f->store_real(val.basis.rows[2].x);
f->store_real(val.basis.rows[2].y);
f->store_real(val.basis.rows[2].z);
f->store_real(val.origin.x);
f->store_real(val.origin.y);
f->store_real(val.origin.z);

254
core/math/basis.cpp
View File

@ -34,32 +34,32 @@
#include "core/print_string.h"
#define cofac(row1, col1, row2, col2) \
(elements[row1][col1] * elements[row2][col2] - elements[row1][col2] * elements[row2][col1])
(rows[row1][col1] * rows[row2][col2] - rows[row1][col2] * rows[row2][col1])
void Basis::from_z(const Vector3 &p_z) {
if (Math::abs(p_z.z) > (real_t)Math_SQRT12) {
// choose p in y-z plane
real_t a = p_z[1] * p_z[1] + p_z[2] * p_z[2];
real_t k = 1 / Math::sqrt(a);
elements[0] = Vector3(0, -p_z[2] * k, p_z[1] * k);
elements[1] = Vector3(a * k, -p_z[0] * elements[0][2], p_z[0] * elements[0][1]);
rows[0] = Vector3(0, -p_z[2] * k, p_z[1] * k);
rows[1] = Vector3(a * k, -p_z[0] * rows[0][2], p_z[0] * rows[0][1]);
} else {
// choose p in x-y plane
real_t a = p_z.x * p_z.x + p_z.y * p_z.y;
real_t k = 1 / Math::sqrt(a);
elements[0] = Vector3(-p_z.y * k, p_z.x * k, 0);
elements[1] = Vector3(-p_z.z * elements[0].y, p_z.z * elements[0].x, a * k);
rows[0] = Vector3(-p_z.y * k, p_z.x * k, 0);
rows[1] = Vector3(-p_z.z * rows[0].y, p_z.z * rows[0].x, a * k);
}
elements[2] = p_z;
rows[2] = p_z;
}
void Basis::invert() {
real_t co[3] = {
cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1)
};
real_t det = elements[0][0] * co[0] +
elements[0][1] * co[1] +
elements[0][2] * co[2];
real_t det = rows[0][0] * co[0] +
rows[0][1] * co[1] +
rows[0][2] * co[2];
#ifdef MATH_CHECKS
ERR_FAIL_COND(det == 0);
#endif
@ -103,9 +103,9 @@ bool Basis::is_orthogonal() const {
bool Basis::is_diagonal() const {
return (
Math::is_zero_approx(elements[0][1]) && Math::is_zero_approx(elements[0][2]) &&
Math::is_zero_approx(elements[1][0]) && Math::is_zero_approx(elements[1][2]) &&
Math::is_zero_approx(elements[2][0]) && Math::is_zero_approx(elements[2][1]));
Math::is_zero_approx(rows[0][1]) && Math::is_zero_approx(rows[0][2]) &&
Math::is_zero_approx(rows[1][0]) && Math::is_zero_approx(rows[1][2]) &&
Math::is_zero_approx(rows[2][0]) && Math::is_zero_approx(rows[2][1]));
}
bool Basis::is_rotation() const {
@ -113,13 +113,13 @@ bool Basis::is_rotation() const {
}
bool Basis::is_symmetric() const {
if (!Math::is_equal_approx_ratio(elements[0][1], elements[1][0], (real_t)UNIT_EPSILON)) {
if (!Math::is_equal_approx_ratio(rows[0][1], rows[1][0], (real_t)UNIT_EPSILON)) {
return false;
}
if (!Math::is_equal_approx_ratio(elements[0][2], elements[2][0], (real_t)UNIT_EPSILON)) {
if (!Math::is_equal_approx_ratio(rows[0][2], rows[2][0], (real_t)UNIT_EPSILON)) {
return false;
}
if (!Math::is_equal_approx_ratio(elements[1][2], elements[2][1], (real_t)UNIT_EPSILON)) {
if (!Math::is_equal_approx_ratio(rows[1][2], rows[2][1], (real_t)UNIT_EPSILON)) {
return false;
}
@ -134,14 +134,14 @@ Basis Basis::diagonalize() {
#endif
const int ite_max = 1024;
real_t off_matrix_norm_2 = elements[0][1] * elements[0][1] + elements[0][2] * elements[0][2] + elements[1][2] * elements[1][2];
real_t off_matrix_norm_2 = rows[0][1] * rows[0][1] + rows[0][2] * rows[0][2] + rows[1][2] * rows[1][2];
int ite = 0;
Basis acc_rot;
while (off_matrix_norm_2 > (real_t)CMP_EPSILON2 && ite++ < ite_max) {
real_t el01_2 = elements[0][1] * elements[0][1];
real_t el02_2 = elements[0][2] * elements[0][2];
real_t el12_2 = elements[1][2] * elements[1][2];
real_t el01_2 = rows[0][1] * rows[0][1];
real_t el02_2 = rows[0][2] * rows[0][2];
real_t el12_2 = rows[1][2] * rows[1][2];
// Find the pivot element
int i, j;
if (el01_2 > el02_2) {
@ -164,19 +164,19 @@ Basis Basis::diagonalize() {
// Compute the rotation angle
real_t angle;
if (Math::is_equal_approx(elements[j][j], elements[i][i])) {
if (Math::is_equal_approx(rows[j][j], rows[i][i])) {
angle = Math_PI / 4;
} else {
angle = 0.5f * Math::atan(2 * elements[i][j] / (elements[j][j] - elements[i][i]));
angle = 0.5f * Math::atan(2 * rows[i][j] / (rows[j][j] - rows[i][i]));
}
// Compute the rotation matrix
Basis rot;
rot.elements[i][i] = rot.elements[j][j] = Math::cos(angle);
rot.elements[i][j] = -(rot.elements[j][i] = Math::sin(angle));
rot.rows[i][i] = rot.rows[j][j] = Math::cos(angle);
rot.rows[i][j] = -(rot.rows[j][i] = Math::sin(angle));
// Update the off matrix norm
off_matrix_norm_2 -= elements[i][j] * elements[i][j];
off_matrix_norm_2 -= rows[i][j] * rows[i][j];
// Apply the rotation
*this = rot * *this * rot.transposed();
@ -193,9 +193,9 @@ Basis Basis::inverse() const {
}
void Basis::transpose() {
SWAP(elements[0][1], elements[1][0]);
SWAP(elements[0][2], elements[2][0]);
SWAP(elements[1][2], elements[2][1]);
SWAP(rows[0][1], rows[1][0]);
SWAP(rows[0][2], rows[2][0]);
SWAP(rows[1][2], rows[2][1]);
}
Basis Basis::transposed() const {
@ -207,15 +207,15 @@ Basis Basis::transposed() const {
// Multiplies the matrix from left by the scaling matrix: M -> S.M
// See the comment for Basis::rotated for further explanation.
void Basis::scale(const Vector3 &p_scale) {
elements[0][0] *= p_scale.x;
elements[0][1] *= p_scale.x;
elements[0][2] *= p_scale.x;
elements[1][0] *= p_scale.y;
elements[1][1] *= p_scale.y;
elements[1][2] *= p_scale.y;
elements[2][0] *= p_scale.z;
elements[2][1] *= p_scale.z;
elements[2][2] *= p_scale.z;
rows[0][0] *= p_scale.x;
rows[0][1] *= p_scale.x;
rows[0][2] *= p_scale.x;
rows[1][0] *= p_scale.y;
rows[1][1] *= p_scale.y;
rows[1][2] *= p_scale.y;
rows[2][0] *= p_scale.z;
rows[2][1] *= p_scale.z;
rows[2][2] *= p_scale.z;
}
Basis Basis::scaled(const Vector3 &p_scale) const {
@ -239,14 +239,14 @@ Basis Basis::scaled_local(const Vector3 &p_scale) const {
Vector3 Basis::get_scale_abs() const {
return Vector3(
Vector3(elements[0][0], elements[1][0], elements[2][0]).length(),
Vector3(elements[0][1], elements[1][1], elements[2][1]).length(),
Vector3(elements[0][2], elements[1][2], elements[2][2]).length());
Vector3(rows[0][0], rows[1][0], rows[2][0]).length(),
Vector3(rows[0][1], rows[1][1], rows[2][1]).length(),
Vector3(rows[0][2], rows[1][2], rows[2][2]).length());
}
Vector3 Basis::get_scale_local() const {
real_t det_sign = SGN(determinant());
return det_sign * Vector3(elements[0].length(), elements[1].length(), elements[2].length());
return det_sign * Vector3(rows[0].length(), rows[1].length(), rows[2].length());
}
// get_scale works with get_rotation, use get_scale_abs if you need to enforce positive signature.
@ -268,7 +268,7 @@ Vector3 Basis::get_scale() const {
//
// A proper way to get rid of this issue would be to store the scaling values (or at least their signs)
// as a part of Basis. However, if we go that path, we need to disable direct (write) access to the
// matrix elements.
// matrix rows.
//
// The rotation part of this decomposition is returned by get_rotation* functions.
real_t det_sign = SGN(determinant());
@ -423,27 +423,27 @@ Vector3 Basis::get_euler_xyz() const {
// -cx*cz*sy+sx*sz cz*sx+cx*sy*sz cx*cy
Vector3 euler;
real_t sy = elements[0][2];
real_t sy = rows[0][2];
if (sy < (1 - (real_t)CMP_EPSILON)) {
if (sy > -(1 - (real_t)CMP_EPSILON)) {
// is this a pure Y rotation?
if (elements[1][0] == 0 && elements[0][1] == 0 && elements[1][2] == 0 && elements[2][1] == 0 && elements[1][1] == 1) {
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(elements[0][2], elements[0][0]);
euler.y = atan2(rows[0][2], rows[0][0]);
euler.z = 0;
} else {
euler.x = Math::atan2(-elements[1][2], elements[2][2]);
euler.x = Math::atan2(-rows[1][2], rows[2][2]);
euler.y = Math::asin(sy);
euler.z = Math::atan2(-elements[0][1], elements[0][0]);
euler.z = Math::atan2(-rows[0][1], rows[0][0]);
}
} else {
euler.x = Math::atan2(elements[2][1], elements[1][1]);
euler.x = Math::atan2(rows[2][1], rows[1][1]);
euler.y = -Math_PI / 2.0;
euler.z = 0.0;
}
} else {
euler.x = Math::atan2(elements[2][1], elements[1][1]);
euler.x = Math::atan2(rows[2][1], rows[1][1]);
euler.y = Math_PI / 2.0;
euler.z = 0.0;
}
@ -482,21 +482,21 @@ Vector3 Basis::get_euler_xzy() const {
// cy*sx*sz cz*sx cx*cy+sx*sz*sy
Vector3 euler;
real_t sz = elements[0][1];
real_t sz = rows[0][1];
if (sz < (1 - (real_t)CMP_EPSILON)) {
if (sz > -(1 - (real_t)CMP_EPSILON)) {
euler.x = Math::atan2(elements[2][1], elements[1][1]);
euler.y = Math::atan2(elements[0][2], elements[0][0]);
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(elements[1][2], elements[2][2]);
euler.x = -Math::atan2(rows[1][2], rows[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.x = -Math::atan2(rows[1][2], rows[2][2]);
euler.y = 0.0;
euler.z = -Math_PI / 2.0;
}
@ -530,21 +530,21 @@ Vector3 Basis::get_euler_yzx() const {
// -cz*sy cy*sx+cx*sy*sz cy*cx-sy*sz*sx
Vector3 euler;
real_t sz = elements[1][0];
real_t sz = rows[1][0];
if (sz < (1 - (real_t)CMP_EPSILON)) {
if (sz > -(1 - (real_t)CMP_EPSILON)) {
euler.x = Math::atan2(-elements[1][2], elements[1][1]);
euler.y = Math::atan2(-elements[2][0], elements[0][0]);
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(elements[2][1], elements[2][2]);
euler.x = Math::atan2(rows[2][1], rows[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.x = Math::atan2(rows[2][1], rows[2][2]);
euler.y = 0.0;
euler.z = Math_PI / 2.0;
}
@ -582,29 +582,29 @@ Vector3 Basis::get_euler_yxz() const {
Vector3 euler;
real_t m12 = elements[1][2];
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 (elements[1][0] == 0 && elements[0][1] == 0 && elements[0][2] == 0 && elements[2][0] == 0 && elements[0][0] == 1) {
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, elements[1][1]);
euler.x = atan2(-m12, rows[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]);
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 * 0.5;
euler.y = atan2(elements[0][1], elements[0][0]);
euler.y = atan2(rows[0][1], rows[0][0]);
euler.z = 0;
}
} else { // m12 == 1
euler.x = -Math_PI * 0.5;
euler.y = -atan2(elements[0][1], elements[0][0]);
euler.y = -atan2(rows[0][1], rows[0][0]);
euler.z = 0;
}
@ -642,22 +642,22 @@ Vector3 Basis::get_euler_zxy() const {
// 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];
real_t sx = rows[2][1];
if (sx < (1 - (real_t)CMP_EPSILON)) {
if (sx > -(1 - (real_t)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]);
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 / 2.0;
euler.y = Math::atan2(elements[0][2], elements[0][0]);
euler.y = Math::atan2(rows[0][2], rows[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.y = Math::atan2(rows[0][2], rows[0][0]);
euler.z = 0;
}
return euler;
@ -689,23 +689,23 @@ Vector3 Basis::get_euler_zyx() const {
// 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];
real_t sy = rows[2][0];
if (sy < (1 - (real_t)CMP_EPSILON)) {
if (sy > -(1 - (real_t)CMP_EPSILON)) {
euler.x = Math::atan2(elements[2][1], elements[2][2]);
euler.x = Math::atan2(rows[2][1], rows[2][2]);
euler.y = Math::asin(-sy);
euler.z = Math::atan2(elements[1][0], elements[0][0]);
euler.z = Math::atan2(rows[1][0], rows[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]);
euler.z = -Math::atan2(rows[0][1], rows[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]);
euler.z = -Math::atan2(rows[0][1], rows[1][1]);
}
return euler;
}
@ -729,13 +729,13 @@ void Basis::set_euler_zyx(const Vector3 &p_euler) {
}
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]);
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_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)) {
if (!Math::is_equal_approx_ratio(a.rows[i][j], b.rows[i][j], p_epsilon)) {
return false;
}
}
@ -747,7 +747,7 @@ bool Basis::is_equal_approx_ratio(const Basis &a, const Basis &b, real_t p_epsil
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]) {
if (rows[i][j] != p_matrix.rows[i][j]) {
return false;
}
}
@ -768,7 +768,7 @@ Basis::operator String() const {
mtx += ", ";
}
mtx += rtos(elements[i][j]);
mtx += rtos(rows[i][j]);
}
}
@ -781,7 +781,7 @@ Quaternion Basis::get_quat() const {
#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 trace = m.rows[0][0] + m.rows[1][1] + m.rows[2][2];
real_t temp[4];
if (trace > 0) {
@ -789,23 +789,23 @@ Quaternion Basis::get_quat() const {
temp[3] = (s * 0.5f);
s = 0.5f / 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);
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.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 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.elements[i][i] - m.elements[j][j] - m.elements[k][k] + 1);
real_t s = Math::sqrt(m.rows[i][i] - m.rows[j][j] - m.rows[k][k] + 1);
temp[i] = s * 0.5f;
s = 0.5f / 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;
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]);
@ -881,11 +881,11 @@ void Basis::get_axis_angle(Vector3 &r_axis, real_t &r_angle) const {
real_t angle, x, y, z; // variables for result
real_t angle_epsilon = 0.1; // margin to distinguish between 0 and 180 degrees
if ((Math::abs(elements[1][0] - elements[0][1]) < CMP_EPSILON) && (Math::abs(elements[2][0] - elements[0][2]) < CMP_EPSILON) && (Math::abs(elements[2][1] - elements[1][2]) < CMP_EPSILON)) {
if ((Math::abs(rows[1][0] - rows[0][1]) < CMP_EPSILON) && (Math::abs(rows[2][0] - rows[0][2]) < CMP_EPSILON) && (Math::abs(rows[2][1] - rows[1][2]) < CMP_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]) < angle_epsilon) && (Math::abs(elements[2][0] + elements[0][2]) < angle_epsilon) && (Math::abs(elements[2][1] + elements[1][2]) < angle_epsilon) && (Math::abs(elements[0][0] + elements[1][1] + elements[2][2] - 3) < angle_epsilon)) {
if ((Math::abs(rows[1][0] + rows[0][1]) < angle_epsilon) && (Math::abs(rows[2][0] + rows[0][2]) < angle_epsilon) && (Math::abs(rows[2][1] + rows[1][2]) < angle_epsilon) && (Math::abs(rows[0][0] + rows[1][1] + rows[2][2] - 3) < angle_epsilon)) {
// this singularity is identity matrix so angle = 0
r_axis = Vector3(0, 1, 0);
r_angle = 0;
@ -893,13 +893,13 @@ void Basis::get_axis_angle(Vector3 &r_axis, real_t &r_angle) const {
}
// 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
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[1][0] + rows[0][1]) / 4;
real_t xz = (rows[2][0] + rows[0][2]) / 4;
real_t yz = (rows[2][1] + rows[1][2]) / 4;
if ((xx > yy) && (xx > zz)) { // rows[0][0] is the largest diagonal term
if (xx < CMP_EPSILON) {
x = 0;
y = Math_SQRT12;
@ -909,7 +909,7 @@ void Basis::get_axis_angle(Vector3 &r_axis, real_t &r_angle) const {
y = xy / x;
z = xz / x;
}
} else if (yy > zz) { // elements[1][1] is the largest diagonal term
} else if (yy > zz) { // rows[1][1] is the largest diagonal term
if (yy < CMP_EPSILON) {
x = Math_SQRT12;
y = 0;
@ -919,7 +919,7 @@ void Basis::get_axis_angle(Vector3 &r_axis, real_t &r_angle) const {
x = xy / y;
z = yz / y;
}
} else { // elements[2][2] is the largest diagonal term so base result on this
} else { // rows[2][2] is the largest diagonal term so base result on this
if (zz < CMP_EPSILON) {
x = Math_SQRT12;
y = Math_SQRT12;
@ -935,15 +935,15 @@ void Basis::get_axis_angle(Vector3 &r_axis, real_t &r_angle) const {
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
real_t s = Math::sqrt((rows[1][2] - rows[2][1]) * (rows[1][2] - rows[2][1]) + (rows[2][0] - rows[0][2]) * (rows[2][0] - rows[0][2]) + (rows[0][1] - rows[1][0]) * (rows[0][1] - rows[1][0])); // s=|axis||sin(angle)|, used to normalise
angle = Math::acos((elements[0][0] + elements[1][1] + elements[2][2] - 1) / 2);
angle = Math::acos((rows[0][0] + rows[1][1] + rows[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;
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);
r_angle = angle;
@ -968,27 +968,27 @@ void Basis::set_axis_angle(const Vector3 &p_axis, real_t p_phi) {
#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 - axis_sq.x);
elements[1][1] = axis_sq.y + cosine * (1 - axis_sq.y);
elements[2][2] = axis_sq.z + cosine * (1 - axis_sq.z);
rows[0][0] = axis_sq.x + cosine * (1 - axis_sq.x);
rows[1][1] = axis_sq.y + cosine * (1 - axis_sq.y);
rows[2][2] = axis_sq.z + cosine * (1 - 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;
rows[0][1] = xyzt - zyxs;
rows[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;
rows[0][2] = xyzt + zyxs;
rows[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;
rows[1][2] = xyzt - zyxs;
rows[2][1] = xyzt + zyxs;
}
void Basis::set_axis_angle_scale(const Vector3 &p_axis, real_t p_phi, const Vector3 &p_scale) {
@ -1007,17 +1007,17 @@ void Basis::set_quat_scale(const Quaternion &p_quat, const Vector3 &p_scale) {
}
void Basis::set_diagonal(const Vector3 &p_diag) {
elements[0][0] = p_diag.x;
elements[0][1] = 0;
elements[0][2] = 0;
rows[0][0] = p_diag.x;
rows[0][1] = 0;
rows[0][2] = 0;
elements[1][0] = 0;
elements[1][1] = p_diag.y;
elements[1][2] = 0;
rows[1][0] = 0;
rows[1][1] = p_diag.y;
rows[1][2] = 0;
elements[2][0] = 0;
elements[2][1] = 0;
elements[2][2] = p_diag.z;
rows[2][0] = 0;
rows[2][1] = 0;
rows[2][2] = p_diag.z;
}
Basis Basis::slerp(const Basis &p_to, const real_t &p_weight) const {
@ -1026,9 +1026,9 @@ Basis Basis::slerp(const Basis &p_to, const real_t &p_weight) const {
Quaternion 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);
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;
}

156
core/math/basis.h
View File

@ -36,17 +36,17 @@
class _NO_DISCARD_CLASS_ Basis {
public:
Vector3 elements[3] = {
Vector3 rows[3] = {
Vector3(1, 0, 0),
Vector3(0, 1, 0),
Vector3(0, 0, 1)
};
_FORCE_INLINE_ const Vector3 &operator[](int axis) const {
return elements[axis];
return rows[axis];
}
_FORCE_INLINE_ Vector3 &operator[](int axis) {
return elements[axis];
return rows[axis];
}
void invert();
@ -60,14 +60,14 @@ public:
void from_z(const Vector3 &p_z);
_FORCE_INLINE_ Vector3 get_axis(int p_axis) const {
// get actual basis axis (elements is transposed for performance)
return Vector3(elements[0][p_axis], elements[1][p_axis], elements[2][p_axis]);
// get actual basis axis (rows is transposed for performance)
return Vector3(rows[0][p_axis], rows[1][p_axis], rows[2][p_axis]);
}
_FORCE_INLINE_ void set_axis(int p_axis, const Vector3 &p_value) {
// get actual basis axis (elements is transposed for performance)
elements[0][p_axis] = p_value.x;
elements[1][p_axis] = p_value.y;
elements[2][p_axis] = p_value.z;
// 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 rotate(const Vector3 &p_axis, real_t p_phi);
@ -135,13 +135,13 @@ public:
// transposed dot products
_FORCE_INLINE_ real_t tdotx(const Vector3 &v) const {
return elements[0][0] * v[0] + elements[1][0] * v[1] + elements[2][0] * v[2];
return rows[0][0] * v[0] + rows[1][0] * v[1] + rows[2][0] * v[2];
}
_FORCE_INLINE_ real_t tdoty(const Vector3 &v) const {
return elements[0][1] * v[0] + elements[1][1] * v[1] + elements[2][1] * v[2];
return rows[0][1] * v[0] + rows[1][1] * v[1] + rows[2][1] * v[2];
}
_FORCE_INLINE_ real_t tdotz(const Vector3 &v) const {
return elements[0][2] * v[0] + elements[1][2] * v[1] + elements[2][2] * v[2];
return rows[0][2] * v[0] + rows[1][2] * v[1] + rows[2][2] * v[2];
}
bool is_equal_approx(const Basis &p_basis) const;
@ -184,15 +184,15 @@ public:
/* create / set */
_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) {
elements[0][0] = xx;
elements[0][1] = xy;
elements[0][2] = xz;
elements[1][0] = yx;
elements[1][1] = yy;
elements[1][2] = yz;
elements[2][0] = zx;
elements[2][1] = zy;
elements[2][2] = zz;
rows[0][0] = xx;
rows[0][1] = xy;
rows[0][2] = xz;
rows[1][0] = yx;
rows[1][1] = yy;
rows[1][2] = yz;
rows[2][0] = zx;
rows[2][1] = zy;
rows[2][2] = zz;
}
_FORCE_INLINE_ void set(const Vector3 &p_x, const Vector3 &p_y, const Vector3 &p_z) {
set_axis(0, p_x);
@ -200,46 +200,46 @@ public:
set_axis(2, p_z);
}
_FORCE_INLINE_ Vector3 get_column(int i) const {
return Vector3(elements[0][i], elements[1][i], elements[2][i]);
return Vector3(rows[0][i], rows[1][i], rows[2][i]);
}
_FORCE_INLINE_ void set_column(int p_index, const Vector3 &p_value) {
// Set actual basis axis column (we store transposed as rows for performance).
elements[0][p_index] = p_value.x;
elements[1][p_index] = p_value.y;
elements[2][p_index] = p_value.z;
rows[0][p_index] = p_value.x;
rows[1][p_index] = p_value.y;
rows[2][p_index] = p_value.z;
}
_FORCE_INLINE_ Vector3 get_row(int i) const {
return Vector3(elements[i][0], elements[i][1], elements[i][2]);
return Vector3(rows[i][0], rows[i][1], rows[i][2]);
}
_FORCE_INLINE_ Vector3 get_main_diagonal() const {
return Vector3(elements[0][0], elements[1][1], elements[2][2]);
return Vector3(rows[0][0], rows[1][1], rows[2][2]);
}
_FORCE_INLINE_ void set_row(int i, const Vector3 &p_row) {
elements[i][0] = p_row.x;
elements[i][1] = p_row.y;
elements[i][2] = p_row.z;
rows[i][0] = p_row.x;
rows[i][1] = p_row.y;
rows[i][2] = p_row.z;
}
_FORCE_INLINE_ void set_zero() {
elements[0].zero();
elements[1].zero();
elements[2].zero();
rows[0].zero();
rows[1].zero();
rows[2].zero();
}
_FORCE_INLINE_ Basis transpose_xform(const Basis &m) const {
return Basis(
elements[0].x * m[0].x + elements[1].x * m[1].x + elements[2].x * m[2].x,
elements[0].x * m[0].y + elements[1].x * m[1].y + elements[2].x * m[2].y,
elements[0].x * m[0].z + elements[1].x * m[1].z + elements[2].x * m[2].z,
elements[0].y * m[0].x + elements[1].y * m[1].x + elements[2].y * m[2].x,
elements[0].y * m[0].y + elements[1].y * m[1].y + elements[2].y * m[2].y,
elements[0].y * m[0].z + elements[1].y * m[1].z + elements[2].y * m[2].z,
elements[0].z * m[0].x + elements[1].z * m[1].x + elements[2].z * m[2].x,
elements[0].z * m[0].y + elements[1].z * m[1].y + elements[2].z * m[2].y,
elements[0].z * m[0].z + elements[1].z * m[1].z + elements[2].z * m[2].z);
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,
rows[0].x * m[0].z + rows[1].x * m[1].z + rows[2].x * m[2].z,
rows[0].y * m[0].x + rows[1].y * m[1].x + rows[2].y * m[2].x,
rows[0].y * m[0].y + rows[1].y * m[1].y + rows[2].y * m[2].y,
rows[0].y * m[0].z + rows[1].y * m[1].z + rows[2].y * m[2].z,
rows[0].z * m[0].x + rows[1].z * m[1].x + rows[2].z * m[2].x,
rows[0].z * m[0].y + rows[1].z * m[1].y + rows[2].z * m[2].y,
rows[0].z * m[0].z + rows[1].z * m[1].z + rows[2].z * m[2].z);
}
Basis(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) {
set(xx, xy, xz, yx, yy, yz, zx, zy, zz);
@ -277,9 +277,9 @@ public:
Basis(const Vector3 &p_axis, real_t p_phi, const Vector3 &p_scale) { set_axis_angle_scale(p_axis, p_phi, p_scale); }
_FORCE_INLINE_ Basis(const Vector3 &row0, const Vector3 &row1, const Vector3 &row2) {
elements[0] = row0;
elements[1] = row1;
elements[2] = row2;
rows[0] = row0;
rows[1] = row1;
rows[2] = row2;
}
_FORCE_INLINE_ Basis() {}
@ -287,22 +287,22 @@ public:
_FORCE_INLINE_ void Basis::operator*=(const Basis &p_matrix) {
set(
p_matrix.tdotx(elements[0]), p_matrix.tdoty(elements[0]), p_matrix.tdotz(elements[0]),
p_matrix.tdotx(elements[1]), p_matrix.tdoty(elements[1]), p_matrix.tdotz(elements[1]),
p_matrix.tdotx(elements[2]), p_matrix.tdoty(elements[2]), p_matrix.tdotz(elements[2]));
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]));
}
_FORCE_INLINE_ Basis Basis::operator*(const Basis &p_matrix) const {
return Basis(
p_matrix.tdotx(elements[0]), p_matrix.tdoty(elements[0]), p_matrix.tdotz(elements[0]),
p_matrix.tdotx(elements[1]), p_matrix.tdoty(elements[1]), p_matrix.tdotz(elements[1]),
p_matrix.tdotx(elements[2]), p_matrix.tdoty(elements[2]), p_matrix.tdotz(elements[2]));
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]));
}
_FORCE_INLINE_ void Basis::operator+=(const Basis &p_matrix) {
elements[0] += p_matrix.elements[0];
elements[1] += p_matrix.elements[1];
elements[2] += p_matrix.elements[2];
rows[0] += p_matrix.rows[0];
rows[1] += p_matrix.rows[1];
rows[2] += p_matrix.rows[2];
}
_FORCE_INLINE_ Basis Basis::operator+(const Basis &p_matrix) const {
@ -312,9 +312,9 @@ _FORCE_INLINE_ Basis Basis::operator+(const Basis &p_matrix) const {
}
_FORCE_INLINE_ void Basis::operator-=(const Basis &p_matrix) {
elements[0] -= p_matrix.elements[0];
elements[1] -= p_matrix.elements[1];
elements[2] -= p_matrix.elements[2];
rows[0] -= p_matrix.rows[0];
rows[1] -= p_matrix.rows[1];
rows[2] -= p_matrix.rows[2];
}
_FORCE_INLINE_ Basis Basis::operator-(const Basis &p_matrix) const {
@ -324,9 +324,9 @@ _FORCE_INLINE_ Basis Basis::operator-(const Basis &p_matrix) const {
}
_FORCE_INLINE_ void Basis::operator*=(real_t p_val) {
elements[0] *= p_val;
elements[1] *= p_val;
elements[2] *= p_val;
rows[0] *= p_val;
rows[1] *= p_val;
rows[2] *= p_val;
}
_FORCE_INLINE_ Basis Basis::operator*(real_t p_val) const {
@ -337,43 +337,43 @@ _FORCE_INLINE_ Basis Basis::operator*(real_t p_val) const {
Vector3 Basis::xform(const Vector3 &p_vector) const {
return Vector3(
elements[0].dot(p_vector),
elements[1].dot(p_vector),
elements[2].dot(p_vector));
rows[0].dot(p_vector),
rows[1].dot(p_vector),
rows[2].dot(p_vector));
}
Vector3i Basis::xform_inv(const Vector3i &p_vector) const {
return Vector3i(
(elements[0][0] * p_vector.x) + (elements[1][0] * p_vector.y) + (elements[2][0] * p_vector.z),
(elements[0][1] * p_vector.x) + (elements[1][1] * p_vector.y) + (elements[2][1] * p_vector.z),
(elements[0][2] * p_vector.x) + (elements[1][2] * p_vector.y) + (elements[2][2] * p_vector.z));
(rows[0][0] * p_vector.x) + (rows[1][0] * p_vector.y) + (rows[2][0] * p_vector.z),
(rows[0][1] * p_vector.x) + (rows[1][1] * p_vector.y) + (rows[2][1] * p_vector.z),
(rows[0][2] * p_vector.x) + (rows[1][2] * p_vector.y) + (rows[2][2] * p_vector.z));
}
Vector3i Basis::xform(const Vector3i &p_vector) const {
return Vector3i(
elements[0].dot(p_vector),
elements[1].dot(p_vector),
elements[2].dot(p_vector));
rows[0].dot(p_vector),
rows[1].dot(p_vector),
rows[2].dot(p_vector));
}
Vector3 Basis::xform_inv(const Vector3 &p_vector) const {
return Vector3(
(elements[0][0] * p_vector.x) + (elements[1][0] * p_vector.y) + (elements[2][0] * p_vector.z),
(elements[0][1] * p_vector.x) + (elements[1][1] * p_vector.y) + (elements[2][1] * p_vector.z),
(elements[0][2] * p_vector.x) + (elements[1][2] * p_vector.y) + (elements[2][2] * p_vector.z));
(rows[0][0] * p_vector.x) + (rows[1][0] * p_vector.y) + (rows[2][0] * p_vector.z),
(rows[0][1] * p_vector.x) + (rows[1][1] * p_vector.y) + (rows[2][1] * p_vector.z),
(rows[0][2] * p_vector.x) + (rows[1][2] * p_vector.y) + (rows[2][2] * p_vector.z));
}
real_t Basis::determinant() const {
return elements[0][0] * (elements[1][1] * elements[2][2] - elements[2][1] * elements[1][2]) -
elements[1][0] * (elements[0][1] * elements[2][2] - elements[2][1] * elements[0][2]) +
elements[2][0] * (elements[0][1] * elements[1][2] - elements[1][1] * elements[0][2]);
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]);
}
Basis Basis::lerp(const Basis &p_to, const real_t &p_weight) const {
Basis b;
b.elements[0] = elements[0].linear_interpolate(p_to.elements[0], p_weight);
b.elements[1] = elements[1].linear_interpolate(p_to.elements[1], p_weight);
b.elements[2] = elements[2].linear_interpolate(p_to.elements[2], p_weight);
b.rows[0] = rows[0].linear_interpolate(p_to.rows[0], p_weight);
b.rows[1] = rows[1].linear_interpolate(p_to.rows[1], p_weight);
b.rows[2] = rows[2].linear_interpolate(p_to.rows[2], p_weight);
return b;
}

36
core/math/camera_matrix.cpp
View File

@ -620,17 +620,17 @@ CameraMatrix::operator Transform() const {
Transform tr;
const real_t *m = &matrix[0][0];
tr.basis.elements[0][0] = m[0];
tr.basis.elements[1][0] = m[1];
tr.basis.elements[2][0] = m[2];
tr.basis.rows[0][0] = m[0];
tr.basis.rows[1][0] = m[1];
tr.basis.rows[2][0] = m[2];
tr.basis.elements[0][1] = m[4];
tr.basis.elements[1][1] = m[5];
tr.basis.elements[2][1] = m[6];
tr.basis.rows[0][1] = m[4];
tr.basis.rows[1][1] = m[5];
tr.basis.rows[2][1] = m[6];
tr.basis.elements[0][2] = m[8];
tr.basis.elements[1][2] = m[9];
tr.basis.elements[2][2] = m[10];
tr.basis.rows[0][2] = m[8];
tr.basis.rows[1][2] = m[9];
tr.basis.rows[2][2] = m[10];
tr.origin.x = m[12];
tr.origin.y = m[13];
@ -643,17 +643,17 @@ CameraMatrix::CameraMatrix(const Transform &p_transform) {
const Transform &tr = p_transform;
real_t *m = &matrix[0][0];
m[0] = tr.basis.elements[0][0];
m[1] = tr.basis.elements[1][0];
m[2] = tr.basis.elements[2][0];
m[0] = tr.basis.rows[0][0];
m[1] = tr.basis.rows[1][0];
m[2] = tr.basis.rows[2][0];
m[3] = 0.0;
m[4] = tr.basis.elements[0][1];
m[5] = tr.basis.elements[1][1];
m[6] = tr.basis.elements[2][1];
m[4] = tr.basis.rows[0][1];
m[5] = tr.basis.rows[1][1];
m[6] = tr.basis.rows[2][1];
m[7] = 0.0;
m[8] = tr.basis.elements[0][2];
m[9] = tr.basis.elements[1][2];
m[10] = tr.basis.elements[2][2];
m[8] = tr.basis.rows[0][2];
m[9] = tr.basis.rows[1][2];
m[10] = tr.basis.rows[2][2];
m[11] = 0.0;
m[12] = tr.origin.x;
m[13] = tr.origin.y;

36
core/math/math_fieldwise.cpp
View File

@ -137,15 +137,15 @@ Variant fieldwise_assign(const Variant &p_target, const Variant &p_source, const
SETUP_TYPE(Basis)
/**/ TRY_TRANSFER_FIELD("xx", elements[0][0])
else TRY_TRANSFER_FIELD("xy", elements[0][1])
else TRY_TRANSFER_FIELD("xz", elements[0][2])
else TRY_TRANSFER_FIELD("yx", elements[1][0])
else TRY_TRANSFER_FIELD("yy", elements[1][1])
else TRY_TRANSFER_FIELD("yz", elements[1][2])
else TRY_TRANSFER_FIELD("zx", elements[2][0])
else TRY_TRANSFER_FIELD("zy", elements[2][1])
else TRY_TRANSFER_FIELD("zz", elements[2][2])
/**/ TRY_TRANSFER_FIELD("xx", rows[0][0])
else TRY_TRANSFER_FIELD("xy", rows[0][1])
else TRY_TRANSFER_FIELD("xz", rows[0][2])
else TRY_TRANSFER_FIELD("yx", rows[1][0])
else TRY_TRANSFER_FIELD("yy", rows[1][1])
else TRY_TRANSFER_FIELD("yz", rows[1][2])
else TRY_TRANSFER_FIELD("zx", rows[2][0])
else TRY_TRANSFER_FIELD("zy", rows[2][1])
else TRY_TRANSFER_FIELD("zz", rows[2][2])
return target;
}
@ -154,15 +154,15 @@ Variant fieldwise_assign(const Variant &p_target, const Variant &p_source, const
SETUP_TYPE(Transform)
/**/ TRY_TRANSFER_FIELD("xx", basis.elements[0][0])
else TRY_TRANSFER_FIELD("xy", basis.elements[0][1])
else TRY_TRANSFER_FIELD("xz", basis.elements[0][2])
else TRY_TRANSFER_FIELD("yx", basis.elements[1][0])
else TRY_TRANSFER_FIELD("yy", basis.elements[1][1])
else TRY_TRANSFER_FIELD("yz", basis.elements[1][2])
else TRY_TRANSFER_FIELD("zx", basis.elements[2][0])
else TRY_TRANSFER_FIELD("zy", basis.elements[2][1])
else TRY_TRANSFER_FIELD("zz", basis.elements[2][2])
/**/ TRY_TRANSFER_FIELD("xx", basis.rows[0][0])
else TRY_TRANSFER_FIELD("xy", basis.rows[0][1])
else TRY_TRANSFER_FIELD("xz", basis.rows[0][2])
else TRY_TRANSFER_FIELD("yx", basis.rows[1][0])
else TRY_TRANSFER_FIELD("yy", basis.rows[1][1])
else TRY_TRANSFER_FIELD("yz", basis.rows[1][2])
else TRY_TRANSFER_FIELD("zx", basis.rows[2][0])
else TRY_TRANSFER_FIELD("zy", basis.rows[2][1])
else TRY_TRANSFER_FIELD("zz", basis.rows[2][2])
else TRY_TRANSFER_FIELD("xo", origin.x)
else TRY_TRANSFER_FIELD("yo", origin.y)
else TRY_TRANSFER_FIELD("zo", origin.z)

36
core/math/projection.cpp
View File

@ -881,17 +881,17 @@ Projection::operator Transform() const {
Transform tr;
const real_t *m = &matrix[0][0];
tr.basis.elements[0][0] = m[0];
tr.basis.elements[1][0] = m[1];
tr.basis.elements[2][0] = m[2];
tr.basis.rows[0][0] = m[0];
tr.basis.rows[1][0] = m[1];
tr.basis.rows[2][0] = m[2];
tr.basis.elements[0][1] = m[4];
tr.basis.elements[1][1] = m[5];
tr.basis.elements[2][1] = m[6];
tr.basis.rows[0][1] = m[4];
tr.basis.rows[1][1] = m[5];
tr.basis.rows[2][1] = m[6];
tr.basis.elements[0][2] = m[8];
tr.basis.elements[1][2] = m[9];
tr.basis.elements[2][2] = m[10];
tr.basis.rows[0][2] = m[8];
tr.basis.rows[1][2] = m[9];
tr.basis.rows[2][2] = m[10];
tr.origin.x = m[12];
tr.origin.y = m[13];
@ -909,17 +909,17 @@ Projection::Projection(const Transform &p_transform) {
const Transform &tr = p_transform;
real_t *m = &matrix[0][0];
m[0] = tr.basis.elements[0][0];
m[1] = tr.basis.elements[1][0];
m[2] = tr.basis.elements[2][0];
m[0] = tr.basis.rows[0][0];
m[1] = tr.basis.rows[1][0];
m[2] = tr.basis.rows[2][0];
m[3] = 0.0;
m[4] = tr.basis.elements[0][1];
m[5] = tr.basis.elements[1][1];
m[6] = tr.basis.elements[2][1];
m[4] = tr.basis.rows[0][1];
m[5] = tr.basis.rows[1][1];
m[6] = tr.basis.rows[2][1];
m[7] = 0.0;
m[8] = tr.basis.elements[0][2];
m[9] = tr.basis.elements[1][2];
m[10] = tr.basis.elements[2][2];
m[8] = tr.basis.rows[0][2];
m[9] = tr.basis.rows[1][2];
m[10] = tr.basis.rows[2][2];
m[11] = 0.0;
m[12] = tr.origin.x;
m[13] = tr.origin.y;

12
core/math/transform.h
View File

@ -135,9 +135,9 @@ _FORCE_INLINE_ Vector3 Transform::xform_inv(const Vector3 &p_vector) const {
Vector3 v = p_vector - origin;
return Vector3(
(basis.elements[0][0] * v.x) + (basis.elements[1][0] * v.y) + (basis.elements[2][0] * v.z),
(basis.elements[0][1] * v.x) + (basis.elements[1][1] * v.y) + (basis.elements[2][1] * v.z),
(basis.elements[0][2] * v.x) + (basis.elements[1][2] * v.y) + (basis.elements[2][2] * v.z));
(basis.rows[0][0] * v.x) + (basis.rows[1][0] * v.y) + (basis.rows[2][0] * v.z),
(basis.rows[0][1] * v.x) + (basis.rows[1][1] * v.y) + (basis.rows[2][1] * v.z),
(basis.rows[0][2] * v.x) + (basis.rows[1][2] * v.y) + (basis.rows[2][2] * v.z));
}
_FORCE_INLINE_ Vector3i Transform::xform(const Vector3i &p_vector) const {
@ -154,9 +154,9 @@ _FORCE_INLINE_ Vector3i Transform::xform_inv(const Vector3i &p_vector) const {
v.z -= origin.z;
return Vector3i(
(basis.elements[0][0] * v.x) + (basis.elements[1][0] * v.y) + (basis.elements[2][0] * v.z),
(basis.elements[0][1] * v.x) + (basis.elements[1][1] * v.y) + (basis.elements[2][1] * v.z),
(basis.elements[0][2] * v.x) + (basis.elements[1][2] * v.y) + (basis.elements[2][2] * v.z));
(basis.rows[0][0] * v.x) + (basis.rows[1][0] * v.y) + (basis.rows[2][0] * v.z),
(basis.rows[0][1] * v.x) + (basis.rows[1][1] * v.y) + (basis.rows[2][1] * v.z),
(basis.rows[0][2] * v.x) + (basis.rows[1][2] * v.y) + (basis.rows[2][2] * v.z));
}
// Neither the plane regular xform or xform_inv are particularly efficient,

28
core/math/transform_interpolator.cpp
View File

@ -61,7 +61,7 @@ void TransformInterpolator::interpolate_basis_via_method(const Basis &p_prev, co
Quaternion TransformInterpolator::_basis_to_quat_unchecked(const Basis &p_basis) {
Basis m = p_basis;
real_t trace = m.elements[0][0] + m.elements[1][1] + m.elements[2][2];
real_t trace = m.rows[0][0] + m.rows[1][1] + m.rows[2][2];
real_t temp[4];
if (trace > 0) {
@ -69,23 +69,23 @@ Quaternion TransformInterpolator::_basis_to_quat_unchecked(const Basis &p_basis)
temp[3] = (s * 0.5f);
s = 0.5f / 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);
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.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 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.elements[i][i] - m.elements[j][j] - m.elements[k][k] + 1.0f);
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.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;
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]);
@ -188,9 +188,9 @@ void TransformInterpolator::interpolate_basis_linear(const Basis &p_prev, const
real_t TransformInterpolator::checksum_transform(const Transform &p_transform) {
// just a really basic checksum, this can probably be improved
real_t sum = vec3_sum(p_transform.origin);
sum -= vec3_sum(p_transform.basis.elements[0]);
sum += vec3_sum(p_transform.basis.elements[1]);
sum -= vec3_sum(p_transform.basis.elements[2]);
sum -= vec3_sum(p_transform.basis.rows[0]);
sum += vec3_sum(p_transform.basis.rows[1]);
sum -= vec3_sum(p_transform.basis.rows[2]);
return sum;
}

26
core/variant.cpp
View File

@ -1680,7 +1680,7 @@ String Variant::stringify(List<const void *> &stack) const {
mtx += ", ";
}
mtx += Variant(mat3.elements[i][j]).operator String();
mtx += Variant(mat3.rows[i][j]).operator String();
}
mtx += ")";
@ -1912,10 +1912,10 @@ Variant::operator Transform() const {
} else if (type == TRANSFORM2D) {
const Transform2D &t = *_data._transform2d;
Transform m;
m.basis.elements[0][0] = t.elements[0][0];
m.basis.elements[1][0] = t.elements[0][1];
m.basis.elements[0][1] = t.elements[1][0];
m.basis.elements[1][1] = t.elements[1][1];
m.basis.rows[0][0] = t.elements[0][0];
m.basis.rows[1][0] = t.elements[0][1];
m.basis.rows[0][1] = t.elements[1][0];
m.basis.rows[1][1] = t.elements[1][1];
m.origin[0] = t.elements[2][0];
m.origin[1] = t.elements[2][1];
return m;
@ -1930,10 +1930,10 @@ Variant::operator Transform2D() const {
} else if (type == TRANSFORM) {
const Transform &t = *_data._transform;
Transform2D m;
m.elements[0][0] = t.basis.elements[0][0];
m.elements[0][1] = t.basis.elements[1][0];
m.elements[1][0] = t.basis.elements[0][1];
m.elements[1][1] = t.basis.elements[1][1];
m.elements[0][0] = t.basis.rows[0][0];
m.elements[0][1] = t.basis.rows[1][0];
m.elements[1][0] = t.basis.rows[0][1];
m.elements[1][1] = t.basis.rows[1][1];
m.elements[2][0] = t.origin[0];
m.elements[2][1] = t.origin[1];
return m;
@ -3038,7 +3038,7 @@ uint32_t Variant::hash() const {
uint32_t hash = 5831;
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
hash = hash_djb2_one_float(_data._basis->elements[i][j], hash);
hash = hash_djb2_one_float(_data._basis->rows[i][j], hash);
}
}
@ -3049,7 +3049,7 @@ uint32_t Variant::hash() const {
uint32_t hash = 5831;
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
hash = hash_djb2_one_float(_data._transform->basis.elements[i][j], hash);
hash = hash_djb2_one_float(_data._transform->basis.rows[i][j], hash);
}
hash = hash_djb2_one_float(_data._transform->origin[i], hash);
}
@ -3380,7 +3380,7 @@ bool Variant::hash_compare(const Variant &p_variant) const {
const Basis *r = p_variant._data._basis;
for (int i = 0; i < 3; i++) {
if (!(hash_compare_vector3(l->elements[i], r->elements[i]))) {
if (!(hash_compare_vector3(l->rows[i], r->rows[i]))) {
return false;
}
}
@ -3393,7 +3393,7 @@ bool Variant::hash_compare(const Variant &p_variant) const {
const Transform *r = p_variant._data._transform;
for (int i = 0; i < 3; i++) {
if (!(hash_compare_vector3(l->basis.elements[i], r->basis.elements[i]))) {
if (!(hash_compare_vector3(l->basis.rows[i], r->basis.rows[i]))) {
return false;
}
}

4
core/variant_parser.cpp
View File

@ -1730,7 +1730,7 @@ Error VariantWriter::write(const Variant &p_variant, StoreStringFunc p_store_str
if (i != 0 || j != 0) {
s += ", ";
}
s += rtos_fix(m3.elements[i][j]);
s += rtos_fix(m3.rows[i][j]);
}
}
@ -1746,7 +1746,7 @@ Error VariantWriter::write(const Variant &p_variant, StoreStringFunc p_store_str
if (i != 0 || j != 0) {
s += ", ";
}
s += rtos_fix(m3.elements[i][j]);
s += rtos_fix(m3.rows[i][j]);
}
}

54
drivers/gles2/rasterizer_storage_gles2.cpp
View File

@ -3095,17 +3095,17 @@ void RasterizerStorageGLES2::_multimesh_instance_set_transform(RID p_multimesh,
float *dataptr = &multimesh->data.write[stride * p_index];
dataptr[0] = p_transform.basis.elements[0][0];
dataptr[1] = p_transform.basis.elements[0][1];
dataptr[2] = p_transform.basis.elements[0][2];
dataptr[0] = p_transform.basis.rows[0][0];
dataptr[1] = p_transform.basis.rows[0][1];
dataptr[2] = p_transform.basis.rows[0][2];
dataptr[3] = p_transform.origin.x;
dataptr[4] = p_transform.basis.elements[1][0];
dataptr[5] = p_transform.basis.elements[1][1];
dataptr[6] = p_transform.basis.elements[1][2];
dataptr[4] = p_transform.basis.rows[1][0];
dataptr[5] = p_transform.basis.rows[1][1];
dataptr[6] = p_transform.basis.rows[1][2];
dataptr[7] = p_transform.origin.y;
dataptr[8] = p_transform.basis.elements[2][0];
dataptr[9] = p_transform.basis.elements[2][1];
dataptr[10] = p_transform.basis.elements[2][2];
dataptr[8] = p_transform.basis.rows[2][0];
dataptr[9] = p_transform.basis.rows[2][1];
dataptr[10] = p_transform.basis.rows[2][2];
dataptr[11] = p_transform.origin.z;
multimesh->dirty_data = true;
@ -3224,17 +3224,17 @@ Transform RasterizerStorageGLES2::_multimesh_instance_get_transform(RID p_multim
Transform xform;
xform.basis.elements[0][0] = dataptr[0];
xform.basis.elements[0][1] = dataptr[1];
xform.basis.elements[0][2] = dataptr[2];
xform.basis.rows[0][0] = dataptr[0];
xform.basis.rows[0][1] = dataptr[1];
xform.basis.rows[0][2] = dataptr[2];
xform.origin.x = dataptr[3];
xform.basis.elements[1][0] = dataptr[4];
xform.basis.elements[1][1] = dataptr[5];
xform.basis.elements[1][2] = dataptr[6];
xform.basis.rows[1][0] = dataptr[4];
xform.basis.rows[1][1] = dataptr[5];
xform.basis.rows[1][2] = dataptr[6];
xform.origin.y = dataptr[7];
xform.basis.elements[2][0] = dataptr[8];
xform.basis.elements[2][1] = dataptr[9];
xform.basis.elements[2][2] = dataptr[10];
xform.basis.rows[2][0] = dataptr[8];
xform.basis.rows[2][1] = dataptr[9];
xform.basis.rows[2][2] = dataptr[10];
xform.origin.z = dataptr[11];
return xform;
@ -3423,17 +3423,17 @@ void RasterizerStorageGLES2::update_dirty_multimeshes() {
float *dataptr = &data[i];
Transform xform;
xform.basis.elements[0][0] = dataptr[0];
xform.basis.elements[0][1] = dataptr[1];
xform.basis.elements[0][2] = dataptr[2];
xform.basis.rows[0][0] = dataptr[0];
xform.basis.rows[0][1] = dataptr[1];
xform.basis.rows[0][2] = dataptr[2];
xform.origin.x = dataptr[3];
xform.basis.elements[1][0] = dataptr[4];
xform.basis.elements[1][1] = dataptr[5];
xform.basis.elements[1][2] = dataptr[6];
xform.basis.rows[1][0] = dataptr[4];
xform.basis.rows[1][1] = dataptr[5];
xform.basis.rows[1][2] = dataptr[6];
xform.origin.y = dataptr[7];
xform.basis.elements[2][0] = dataptr[8];
xform.basis.elements[2][1] = dataptr[9];
xform.basis.elements[2][2] = dataptr[10];
xform.basis.rows[2][0] = dataptr[8];
xform.basis.rows[2][1] = dataptr[9];
xform.basis.rows[2][2] = dataptr[10];
xform.origin.z = dataptr[11];
AABB laabb = xform.xform(mesh_aabb);

36
drivers/gles2/shader_gles2.cpp
View File

@ -798,15 +798,15 @@ void ShaderGLES2::use_material(void *p_material) {
Basis val = V->get();
GLfloat mat[9] = {
val.elements[0][0],
val.elements[1][0],
val.elements[2][0],
val.elements[0][1],
val.elements[1][1],
val.elements[2][1],
val.elements[0][2],
val.elements[1][2],
val.elements[2][2],
val.rows[0][0],
val.rows[1][0],
val.rows[2][0],
val.rows[0][1],
val.rows[1][1],
val.rows[2][1],
val.rows[0][2],
val.rows[1][2],
val.rows[2][2],
};
glUniformMatrix3fv(location, 1, GL_FALSE, mat);
@ -817,17 +817,17 @@ void ShaderGLES2::use_material(void *p_material) {
if (V->get().get_type() == Variant::TRANSFORM) {
Transform tr = V->get();
GLfloat matrix[16] = { /* build a 16x16 matrix */
tr.basis.elements[0][0],
tr.basis.elements[1][0],
tr.basis.elements[2][0],
tr.basis.rows[0][0],
tr.basis.rows[1][0],
tr.basis.rows[2][0],
0,
tr.basis.elements[0][1],
tr.basis.elements[1][1],
tr.basis.elements[2][1],
tr.basis.rows[0][1],
tr.basis.rows[1][1],
tr.basis.rows[2][1],
0,
tr.basis.elements[0][2],
tr.basis.elements[1][2],
tr.basis.elements[2][2],
tr.basis.rows[0][2],
tr.basis.rows[1][2],
tr.basis.rows[2][2],
0,
tr.origin.x,
tr.origin.y,

12
editor/property_editor.cpp
View File

@ -805,9 +805,9 @@ bool CustomPropertyEditor::edit(Object *p_owner, const String &p_name, Variant::
field_names.push_back("oy");
config_value_editors(6, 2, 16, field_names);
Transform2D basis = v;
Transform2D t = v;
for (int i = 0; i < 6; i++) {
value_editor[i]->set_text(String::num(basis.elements[i / 2][i % 2]));
value_editor[i]->set_text(String::num(t.elements[i / 2][i % 2]));
}
} break;
@ -825,7 +825,7 @@ bool CustomPropertyEditor::edit(Object *p_owner, const String &p_name, Variant::
Basis basis = v;
for (int i = 0; i < 9; i++) {
value_editor[i]->set_text(String::num(basis.elements[i / 3][i % 3]));
value_editor[i]->set_text(String::num(basis.rows[i / 3][i % 3]));
}
} break;
@ -846,7 +846,7 @@ bool CustomPropertyEditor::edit(Object *p_owner, const String &p_name, Variant::
Transform tr = v;
for (int i = 0; i < 9; i++) {
value_editor[(i / 3) * 4 + i % 3]->set_text(String::num(tr.basis.elements[i / 3][i % 3]));
value_editor[(i / 3) * 4 + i % 3]->set_text(String::num(tr.basis.rows[i / 3][i % 3]));
}
value_editor[3]->set_text(String::num(tr.origin.x));
@ -1591,7 +1591,7 @@ void CustomPropertyEditor::_modified(String p_string) {
case Variant::BASIS: {
Basis m;
for (int i = 0; i < 9; i++) {
m.elements[i / 3][i % 3] = _parse_real_expression(value_editor[i]->get_text());
m.rows[i / 3][i % 3] = _parse_real_expression(value_editor[i]->get_text());
}
v = m;
@ -1601,7 +1601,7 @@ void CustomPropertyEditor::_modified(String p_string) {
case Variant::TRANSFORM: {
Basis basis;
for (int i = 0; i < 9; i++) {
basis.elements[i / 3][i % 3] = _parse_real_expression(value_editor[(i / 3) * 4 + i % 3]->get_text());
basis.rows[i / 3][i % 3] = _parse_real_expression(value_editor[(i / 3) * 4 + i % 3]->get_text());
}
Vector3 origin;

18
gles_builders.py
View File

@ -296,17 +296,17 @@ def build_legacygl_header(filename, include, class_suffix, output_attribs, gles2
const Transform &tr = p_transform;
GLfloat matrix[16]={ /* build a 16x16 matrix */
tr.basis.elements[0][0],
tr.basis.elements[1][0],
tr.basis.elements[2][0],
tr.basis.rows[0][0],
tr.basis.rows[1][0],
tr.basis.rows[2][0],
0,
tr.basis.elements[0][1],
tr.basis.elements[1][1],
tr.basis.elements[2][1],
tr.basis.rows[0][1],
tr.basis.rows[1][1],
tr.basis.rows[2][1],
0,
tr.basis.elements[0][2],
tr.basis.elements[1][2],
tr.basis.elements[2][2],
tr.basis.rows[0][2],
tr.basis.rows[1][2],
tr.basis.rows[2][2],
0,
tr.origin.x,
tr.origin.y,

12
modules/network_synchronizer/scene_synchronizer.cpp
View File

@ -1369,9 +1369,9 @@ bool SceneSynchronizer::compare(const Variant &p_first, const Variant &p_second,
case Variant::BASIS: {
const Basis a = p_first;
const Basis b = p_second;
if (compare(a.elements[0], b.elements[0], p_tolerance)) {
if (compare(a.elements[1], b.elements[1], p_tolerance)) {
if (compare(a.elements[2], b.elements[2], p_tolerance)) {
if (compare(a.rows[0], b.rows[0], p_tolerance)) {
if (compare(a.rows[1], b.rows[1], p_tolerance)) {
if (compare(a.rows[2], b.rows[2], p_tolerance)) {
return true;
}
}
@ -1382,9 +1382,9 @@ bool SceneSynchronizer::compare(const Variant &p_first, const Variant &p_second,
const Transform a = p_first;
const Transform b = p_second;
if (compare(a.origin, b.origin, p_tolerance)) {
if (compare(a.basis.elements[0], b.basis.elements[0], p_tolerance)) {
if (compare(a.basis.elements[1], b.basis.elements[1], p_tolerance)) {
if (compare(a.basis.elements[2], b.basis.elements[2], p_tolerance)) {
if (compare(a.basis.rows[0], b.basis.rows[0], p_tolerance)) {
if (compare(a.basis.rows[1], b.basis.rows[1], p_tolerance)) {
if (compare(a.basis.rows[2], b.basis.rows[2], p_tolerance)) {
return true;
}
}

18
scene/3d/cpu_particles.h
View File

@ -222,17 +222,17 @@ private:
const Transform &t = p_source.transform;
if (p_active) {
r_dest[0] = t.basis.elements[0][0];
r_dest[1] = t.basis.elements[0][1];
r_dest[2] = t.basis.elements[0][2];
r_dest[0] = t.basis.rows[0][0];
r_dest[1] = t.basis.rows[0][1];
r_dest[2] = t.basis.rows[0][2];
r_dest[3] = t.origin.x;
r_dest[4] = t.basis.elements[1][0];
r_dest[5] = t.basis.elements[1][1];
r_dest[6] = t.basis.elements[1][2];
r_dest[4] = t.basis.rows[1][0];
r_dest[5] = t.basis.rows[1][1];
r_dest[6] = t.basis.rows[1][2];
r_dest[7] = t.origin.y;
r_dest[8] = t.basis.elements[2][0];
r_dest[9] = t.basis.elements[2][1];
r_dest[10] = t.basis.elements[2][2];
r_dest[8] = t.basis.rows[2][0];
r_dest[9] = t.basis.rows[2][1];
r_dest[10] = t.basis.rows[2][2];
r_dest[11] = t.origin.z;
} else {
memset(r_dest, 0, sizeof(float) * 12);

72
scene/animation/scene_tree_tween.cpp
View File

@ -450,15 +450,15 @@ Variant SceneTreeTween::interpolate_variant(Variant p_initial_val, Variant p_del
Basis d = p_delta_val;
Basis r;
APPLY_EQUATION(elements[0][0]);
APPLY_EQUATION(elements[0][1]);
APPLY_EQUATION(elements[0][2]);
APPLY_EQUATION(elements[1][0]);
APPLY_EQUATION(elements[1][1]);
APPLY_EQUATION(elements[1][2]);
APPLY_EQUATION(elements[2][0]);
APPLY_EQUATION(elements[2][1]);
APPLY_EQUATION(elements[2][2]);
APPLY_EQUATION(rows[0][0]);
APPLY_EQUATION(rows[0][1]);
APPLY_EQUATION(rows[0][2]);
APPLY_EQUATION(rows[1][0]);
APPLY_EQUATION(rows[1][1]);
APPLY_EQUATION(rows[1][2]);
APPLY_EQUATION(rows[2][0]);
APPLY_EQUATION(rows[2][1]);
APPLY_EQUATION(rows[2][2]);
return r;
}
@ -467,15 +467,15 @@ Variant SceneTreeTween::interpolate_variant(Variant p_initial_val, Variant p_del
Transform d = p_delta_val;
Transform r;
APPLY_EQUATION(basis.elements[0][0]);
APPLY_EQUATION(basis.elements[0][1]);
APPLY_EQUATION(basis.elements[0][2]);
APPLY_EQUATION(basis.elements[1][0]);
APPLY_EQUATION(basis.elements[1][1]);
APPLY_EQUATION(basis.elements[1][2]);
APPLY_EQUATION(basis.elements[2][0]);
APPLY_EQUATION(basis.elements[2][1]);
APPLY_EQUATION(basis.elements[2][2]);
APPLY_EQUATION(basis.rows[0][0]);
APPLY_EQUATION(basis.rows[0][1]);
APPLY_EQUATION(basis.rows[0][2]);
APPLY_EQUATION(basis.rows[1][0]);
APPLY_EQUATION(basis.rows[1][1]);
APPLY_EQUATION(basis.rows[1][2]);
APPLY_EQUATION(basis.rows[2][0]);
APPLY_EQUATION(basis.rows[2][1]);
APPLY_EQUATION(basis.rows[2][2]);
APPLY_EQUATION(origin.x);
APPLY_EQUATION(origin.y);
APPLY_EQUATION(origin.z);
@ -535,29 +535,29 @@ Variant SceneTreeTween::calculate_delta_value(Variant p_intial_val, Variant p_fi
case Variant::BASIS: {
Basis i = p_intial_val;
Basis f = p_final_val;
return Basis(f.elements[0][0] - i.elements[0][0],
f.elements[0][1] - i.elements[0][1],
f.elements[0][2] - i.elements[0][2],
f.elements[1][0] - i.elements[1][0],
f.elements[1][1] - i.elements[1][1],
f.elements[1][2] - i.elements[1][2],
f.elements[2][0] - i.elements[2][0],
f.elements[2][1] - i.elements[2][1],
f.elements[2][2] - i.elements[2][2]);
return Basis(f.rows[0][0] - i.rows[0][0],
f.rows[0][1] - i.rows[0][1],
f.rows[0][2] - i.rows[0][2],
f.rows[1][0] - i.rows[1][0],
f.rows[1][1] - i.rows[1][1],
f.rows[1][2] - i.rows[1][2],
f.rows[2][0] - i.rows[2][0],
f.rows[2][1] - i.rows[2][1],
f.rows[2][2] - i.rows[2][2]);
}
case Variant::TRANSFORM: {
Transform i = p_intial_val;
Transform f = p_final_val;
return Transform(f.basis.elements[0][0] - i.basis.elements[0][0],
f.basis.elements[0][1] - i.basis.elements[0][1],
f.basis.elements[0][2] - i.basis.elements[0][2],
f.basis.elements[1][0] - i.basis.elements[1][0],
f.basis.elements[1][1] - i.basis.elements[1][1],
f.basis.elements[1][2] - i.basis.elements[1][2],
f.basis.elements[2][0] - i.basis.elements[2][0],
f.basis.elements[2][1] - i.basis.elements[2][1],
f.basis.elements[2][2] - i.basis.elements[2][2],
return Transform(f.basis.rows[0][0] - i.basis.rows[0][0],
f.basis.rows[0][1] - i.basis.rows[0][1],
f.basis.rows[0][2] - i.basis.rows[0][2],
f.basis.rows[1][0] - i.basis.rows[1][0],
f.basis.rows[1][1] - i.basis.rows[1][1],
f.basis.rows[1][2] - i.basis.rows[1][2],
f.basis.rows[2][0] - i.basis.rows[2][0],
f.basis.rows[2][1] - i.basis.rows[2][1],
f.basis.rows[2][2] - i.basis.rows[2][2],
f.origin.x - i.origin.x,
f.origin.y - i.origin.y,
f.origin.z - i.origin.z);

72
scene/animation/tween.cpp
View File

@ -587,15 +587,15 @@ Variant Tween::_run_equation(InterpolateData &p_data) {
// Execute the equation on all the basis and mutate the r basis
// This uses the custom APPLY_EQUATION macro defined above
APPLY_EQUATION(elements[0][0]);
APPLY_EQUATION(elements[0][1]);
APPLY_EQUATION(elements[0][2]);
APPLY_EQUATION(elements[1][0]);
APPLY_EQUATION(elements[1][1]);
APPLY_EQUATION(elements[1][2]);
APPLY_EQUATION(elements[2][0]);
APPLY_EQUATION(elements[2][1]);
APPLY_EQUATION(elements[2][2]);
APPLY_EQUATION(rows[0][0]);
APPLY_EQUATION(rows[0][1]);
APPLY_EQUATION(rows[0][2]);
APPLY_EQUATION(rows[1][0]);
APPLY_EQUATION(rows[1][1]);
APPLY_EQUATION(rows[1][2]);
APPLY_EQUATION(rows[2][0]);
APPLY_EQUATION(rows[2][1]);
APPLY_EQUATION(rows[2][2]);
result = r;
} break;
@ -607,15 +607,15 @@ Variant Tween::_run_equation(InterpolateData &p_data) {
// Execute the equation for each of the transforms and their origin and mutate the r transform
// This uses the custom APPLY_EQUATION macro defined above
APPLY_EQUATION(basis.elements[0][0]);
APPLY_EQUATION(basis.elements[0][1]);
APPLY_EQUATION(basis.elements[0][2]);
APPLY_EQUATION(basis.elements[1][0]);
APPLY_EQUATION(basis.elements[1][1]);
APPLY_EQUATION(basis.elements[1][2]);
APPLY_EQUATION(basis.elements[2][0]);
APPLY_EQUATION(basis.elements[2][1]);
APPLY_EQUATION(basis.elements[2][2]);
APPLY_EQUATION(basis.rows[0][0]);
APPLY_EQUATION(basis.rows[0][1]);
APPLY_EQUATION(basis.rows[0][2]);
APPLY_EQUATION(basis.rows[1][0]);
APPLY_EQUATION(basis.rows[1][1]);
APPLY_EQUATION(basis.rows[1][2]);
APPLY_EQUATION(basis.rows[2][0]);
APPLY_EQUATION(basis.rows[2][1]);
APPLY_EQUATION(basis.rows[2][2]);
APPLY_EQUATION(origin.x);
APPLY_EQUATION(origin.y);
APPLY_EQUATION(origin.z);
@ -1274,15 +1274,15 @@ bool Tween::_calc_delta_val(const Variant &p_initial_val, const Variant &p_final
// Build a new basis which is the delta between the initial and final values
Basis i = initial_val;
Basis f = final_val;
delta_val = Basis(f.elements[0][0] - i.elements[0][0],
f.elements[0][1] - i.elements[0][1],
f.elements[0][2] - i.elements[0][2],
f.elements[1][0] - i.elements[1][0],
f.elements[1][1] - i.elements[1][1],
f.elements[1][2] - i.elements[1][2],
f.elements[2][0] - i.elements[2][0],
f.elements[2][1] - i.elements[2][1],
f.elements[2][2] - i.elements[2][2]);
delta_val = Basis(f.rows[0][0] - i.rows[0][0],
f.rows[0][1] - i.rows[0][1],
f.rows[0][2] - i.rows[0][2],
f.rows[1][0] - i.rows[1][0],
f.rows[1][1] - i.rows[1][1],
f.rows[1][2] - i.rows[1][2],
f.rows[2][0] - i.rows[2][0],
f.rows[2][1] - i.rows[2][1],
f.rows[2][2] - i.rows[2][2]);
} break;
case Variant::TRANSFORM: {
@ -1290,15 +1290,15 @@ bool Tween::_calc_delta_val(const Variant &p_initial_val, const Variant &p_final
Transform i = initial_val;
Transform f = final_val;
Transform d;
d.set(f.basis.elements[0][0] - i.basis.elements[0][0],
f.basis.elements[0][1] - i.basis.elements[0][1],
f.basis.elements[0][2] - i.basis.elements[0][2],
f.basis.elements[1][0] - i.basis.elements[1][0],
f.basis.elements[1][1] - i.basis.elements[1][1],
f.basis.elements[1][2] - i.basis.elements[1][2],
f.basis.elements[2][0] - i.basis.elements[2][0],
f.basis.elements[2][1] - i.basis.elements[2][1],
f.basis.elements[2][2] - i.basis.elements[2][2],
d.set(f.basis.rows[0][0] - i.basis.rows[0][0],
f.basis.rows[0][1] - i.basis.rows[0][1],
f.basis.rows[0][2] - i.basis.rows[0][2],
f.basis.rows[1][0] - i.basis.rows[1][0],
f.basis.rows[1][1] - i.basis.rows[1][1],
f.basis.rows[1][2] - i.basis.rows[1][2],
f.basis.rows[2][0] - i.basis.rows[2][0],
f.basis.rows[2][1] - i.basis.rows[2][1],
f.basis.rows[2][2] - i.basis.rows[2][2],
f.origin.x - i.origin.x,
f.origin.y - i.origin.y,
f.origin.z - i.origin.z);

72
servers/visual/rasterizer.cpp
View File

@ -170,43 +170,43 @@ void RasterizerStorage::update_interpolation_frame(bool p_process) {
} else {
// Silly swizzling, this will slow things down. no idea why it is using this format
// .. maybe due to the shader.
tp.basis.elements[0][0] = pf_prev[0];
tp.basis.elements[0][1] = pf_prev[1];
tp.basis.elements[0][2] = pf_prev[2];
tp.basis.elements[1][0] = pf_prev[4];
tp.basis.elements[1][1] = pf_prev[5];
tp.basis.elements[1][2] = pf_prev[6];
tp.basis.elements[2][0] = pf_prev[8];
tp.basis.elements[2][1] = pf_prev[9];
tp.basis.elements[2][2] = pf_prev[10];
tp.basis.rows[0][0] = pf_prev[0];
tp.basis.rows[0][1] = pf_prev[1];
tp.basis.rows[0][2] = pf_prev[2];
tp.basis.rows[1][0] = pf_prev[4];
tp.basis.rows[1][1] = pf_prev[5];
tp.basis.rows[1][2] = pf_prev[6];
tp.basis.rows[2][0] = pf_prev[8];
tp.basis.rows[2][1] = pf_prev[9];
tp.basis.rows[2][2] = pf_prev[10];
tp.origin.x = pf_prev[3];
tp.origin.y = pf_prev[7];
tp.origin.z = pf_prev[11];
tc.basis.elements[0][0] = pf_curr[0];
tc.basis.elements[0][1] = pf_curr[1];
tc.basis.elements[0][2] = pf_curr[2];
tc.basis.elements[1][0] = pf_curr[4];
tc.basis.elements[1][1] = pf_curr[5];
tc.basis.elements[1][2] = pf_curr[6];
tc.basis.elements[2][0] = pf_curr[8];
tc.basis.elements[2][1] = pf_curr[9];
tc.basis.elements[2][2] = pf_curr[10];
tc.basis.rows[0][0] = pf_curr[0];
tc.basis.rows[0][1] = pf_curr[1];
tc.basis.rows[0][2] = pf_curr[2];
tc.basis.rows[1][0] = pf_curr[4];
tc.basis.rows[1][1] = pf_curr[5];
tc.basis.rows[1][2] = pf_curr[6];
tc.basis.rows[2][0] = pf_curr[8];
tc.basis.rows[2][1] = pf_curr[9];
tc.basis.rows[2][2] = pf_curr[10];
tc.origin.x = pf_curr[3];
tc.origin.y = pf_curr[7];
tc.origin.z = pf_curr[11];
TransformInterpolator::interpolate_transform(tp, tc, tr, f);
pf_int[0] = tr.basis.elements[0][0];
pf_int[1] = tr.basis.elements[0][1];
pf_int[2] = tr.basis.elements[0][2];
pf_int[4] = tr.basis.elements[1][0];
pf_int[5] = tr.basis.elements[1][1];
pf_int[6] = tr.basis.elements[1][2];
pf_int[8] = tr.basis.elements[2][0];
pf_int[9] = tr.basis.elements[2][1];
pf_int[10] = tr.basis.elements[2][2];
pf_int[0] = tr.basis.rows[0][0];
pf_int[1] = tr.basis.rows[0][1];
pf_int[2] = tr.basis.rows[0][2];
pf_int[4] = tr.basis.rows[1][0];
pf_int[5] = tr.basis.rows[1][1];
pf_int[6] = tr.basis.rows[1][2];
pf_int[8] = tr.basis.rows[2][0];
pf_int[9] = tr.basis.rows[2][1];
pf_int[10] = tr.basis.rows[2][2];
pf_int[3] = tr.origin.x;
pf_int[7] = tr.origin.y;
pf_int[11] = tr.origin.z;
@ -336,17 +336,17 @@ void RasterizerStorage::multimesh_instance_set_transform(RID p_multimesh, int p_
ptr += start;
const Transform &t = p_transform;
ptr[0] = t.basis.elements[0][0];
ptr[1] = t.basis.elements[0][1];
ptr[2] = t.basis.elements[0][2];
ptr[0] = t.basis.rows[0][0];
ptr[1] = t.basis.rows[0][1];
ptr[2] = t.basis.rows[0][2];
ptr[3] = t.origin.x;
ptr[4] = t.basis.elements[1][0];
ptr[5] = t.basis.elements[1][1];
ptr[6] = t.basis.elements[1][2];
ptr[4] = t.basis.rows[1][0];
ptr[5] = t.basis.rows[1][1];
ptr[6] = t.basis.rows[1][2];
ptr[7] = t.origin.y;
ptr[8] = t.basis.elements[2][0];
ptr[9] = t.basis.elements[2][1];
ptr[10] = t.basis.elements[2][2];
ptr[8] = t.basis.rows[2][0];
ptr[9] = t.basis.rows[2][1];
ptr[10] = t.basis.rows[2][2];
ptr[11] = t.origin.z;
_multimesh_add_to_interpolation_lists(p_multimesh, *mmi);

4
servers/visual/visual_server_scene.cpp
View File

@ -704,7 +704,7 @@ void VisualServerScene::instance_set_transform(RID p_instance, const Transform &
#ifdef DEBUG_ENABLED
for (int i = 0; i < 4; i++) {
const Vector3 &v = i < 3 ? p_transform.basis.elements[i] : p_transform.origin;
const Vector3 &v = i < 3 ? p_transform.basis.rows[i] : p_transform.origin;
ERR_FAIL_COND(Math::is_inf(v.x));
ERR_FAIL_COND(Math::is_nan(v.x));
ERR_FAIL_COND(Math::is_inf(v.y));
@ -735,7 +735,7 @@ void VisualServerScene::instance_set_transform(RID p_instance, const Transform &
#ifdef DEBUG_ENABLED
for (int i = 0; i < 4; i++) {
const Vector3 &v = i < 3 ? p_transform.basis.elements[i] : p_transform.origin;
const Vector3 &v = i < 3 ? p_transform.basis.rows[i] : p_transform.origin;
ERR_FAIL_COND(Math::is_inf(v.x));
ERR_FAIL_COND(Math::is_nan(v.x));
ERR_FAIL_COND(Math::is_inf(v.y));