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Several fixes to make GLES2 on HTML5 work much better.

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Changed math class error reporting to be a bit less paranoid.
This commit is contained in:
Juan Linietsky 2019-02-25 21:46:24 -03:00
parent 51c1d55cf9
commit a32b26dfa2
16 changed files with 315 additions and 100 deletions
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74
core/math/basis.cpp
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@ -76,15 +76,23 @@ void Basis::invert() {
}
void Basis::orthonormalize() {
/* this check is undesired, the matrix could be wrong but we still may want to generate a valid one
* for practical purposes
#ifdef MATH_CHECKS
ERR_FAIL_COND(determinant() == 0);
#endif
*/
// Gram-Schmidt Process
Vector3 x = get_axis(0);
Vector3 y = get_axis(1);
Vector3 z = get_axis(2);
#ifdef MATH_CHECKS
ERR_FAIL_COND(x.length_squared() == 0);
ERR_FAIL_COND(y.length_squared() == 0);
ERR_FAIL_COND(z.length_squared() == 0);
#endif
x.normalize();
y = (y - x * (x.dot(y)));
y.normalize();
@ -118,16 +126,16 @@ bool Basis::is_diagonal() const {
}
bool Basis::is_rotation() const {
return Math::is_equal_approx(determinant(), 1) && is_orthogonal();
return Math::is_equal_approx(determinant(), 1, UNIT_EPSILON) && is_orthogonal();
}
bool Basis::is_symmetric() const {
if (!Math::is_equal_approx(elements[0][1], elements[1][0]))
if (!Math::is_equal_approx_ratio(elements[0][1], elements[1][0], UNIT_EPSILON))
return false;
if (!Math::is_equal_approx(elements[0][2], elements[2][0]))
if (!Math::is_equal_approx_ratio(elements[0][2], elements[2][0], UNIT_EPSILON))
return false;
if (!Math::is_equal_approx(elements[1][2], elements[2][1]))
if (!Math::is_equal_approx_ratio(elements[1][2], elements[2][1], UNIT_EPSILON))
return false;
return true;
@ -488,6 +496,11 @@ void Basis::set_euler_xyz(const Vector3 &p_euler) {
// as the x, y, and z components of a Vector3 respectively.
Vector3 Basis::get_euler_yxz() 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
*/
// Euler angles in YXZ convention.
// See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
//
@ -496,9 +509,7 @@ Vector3 Basis::get_euler_yxz() const {
// cy*sx*sz-cz*sy cy*cz*sx+sy*sz cy*cx
Vector3 euler;
#ifdef MATH_CHECKS
ERR_FAIL_COND_V(!is_rotation(), euler);
#endif
real_t m12 = elements[1][2];
if (m12 < 1) {
@ -556,7 +567,7 @@ bool Basis::is_equal_approx(const Basis &a, const Basis &b) const {
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
if (!Math::is_equal_approx(a.elements[i][j], b.elements[i][j]))
if (!Math::is_equal_approx_ratio(a.elements[i][j], b.elements[i][j], UNIT_EPSILON))
return false;
}
}
@ -599,10 +610,14 @@ Basis::operator String() const {
}
Quat Basis::get_quat() const {
#ifdef MATH_CHECKS
ERR_FAIL_COND_V(!is_rotation(), Quat());
#endif
real_t trace = elements[0][0] + elements[1][1] + elements[2][2];
/* Allow getting a quaternion from an unnormalized transform */
Basis m = *this;
m.elements[0].normalize();
m.elements[1].normalize();
m.elements[2].normalize();
real_t trace = m.elements[0][0] + m.elements[1][1] + m.elements[2][2];
real_t temp[4];
if (trace > 0.0) {
@ -610,23 +625,23 @@ Quat Basis::get_quat() const {
temp[3] = (s * 0.5);
s = 0.5 / s;
temp[0] = ((elements[2][1] - elements[1][2]) * s);
temp[1] = ((elements[0][2] - elements[2][0]) * s);
temp[2] = ((elements[1][0] - elements[0][1]) * 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 = elements[0][0] < elements[1][1] ?
(elements[1][1] < elements[2][2] ? 2 : 1) :
(elements[0][0] < elements[2][2] ? 2 : 0);
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(elements[i][i] - elements[j][j] - elements[k][k] + 1.0);
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] = (elements[k][j] - elements[j][k]) * s;
temp[j] = (elements[j][i] + elements[i][j]) * s;
temp[k] = (elements[k][i] + elements[i][k]) * 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]);
@ -696,9 +711,11 @@ void Basis::set_orthogonal_index(int 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
@ -835,14 +852,15 @@ void Basis::set_diagonal(const Vector3 p_diag) {
}
Basis Basis::slerp(const Basis &target, const real_t &t) const {
// TODO: implement this directly without using quaternions to make it more efficient
#ifdef MATH_CHECKS
ERR_FAIL_COND_V(!is_rotation(), Basis());
ERR_FAIL_COND_V(!target.is_rotation(), Basis());
#endif
//consider scale
Quat from(*this);
Quat to(target);
return Basis(from.slerp(to, t));
Basis b(from.slerp(to, t));
b.elements[0] *= Math::lerp(elements[0].length(), target.elements[0].length(), t);
b.elements[1] *= Math::lerp(elements[1].length(), target.elements[1].length(), t);
b.elements[2] *= Math::lerp(elements[2].length(), target.elements[2].length(), t);
return b;
}