mirror of
https://github.com/godotengine/godot.git
synced 2025-11-03 23:21:15 +00:00
313 lines
10 KiB
C++
313 lines
10 KiB
C++
/*************************************************************************/
|
|
/* matrix3.h */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
|
|
/* */
|
|
/* Permission is hereby granted, free of charge, to any person obtaining */
|
|
/* a copy of this software and associated documentation files (the */
|
|
/* "Software"), to deal in the Software without restriction, including */
|
|
/* without limitation the rights to use, copy, modify, merge, publish, */
|
|
/* distribute, sublicense, and/or sell copies of the Software, and to */
|
|
/* permit persons to whom the Software is furnished to do so, subject to */
|
|
/* the following conditions: */
|
|
/* */
|
|
/* The above copyright notice and this permission notice shall be */
|
|
/* included in all copies or substantial portions of the Software. */
|
|
/* */
|
|
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
|
|
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
|
|
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
|
|
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
|
|
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
|
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
|
|
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
|
|
/*************************************************************************/
|
|
|
|
#include "vector3.h"
|
|
|
|
#ifndef MATRIX3_H
|
|
#define MATRIX3_H
|
|
|
|
#include "quat.h"
|
|
|
|
/**
|
|
@author Juan Linietsky <reduzio@gmail.com>
|
|
*/
|
|
class Basis {
|
|
public:
|
|
Vector3 elements[3];
|
|
|
|
_FORCE_INLINE_ const Vector3 &operator[](int axis) const {
|
|
|
|
return elements[axis];
|
|
}
|
|
_FORCE_INLINE_ Vector3 &operator[](int axis) {
|
|
|
|
return elements[axis];
|
|
}
|
|
|
|
void invert();
|
|
void transpose();
|
|
|
|
Basis inverse() const;
|
|
Basis transposed() const;
|
|
|
|
_FORCE_INLINE_ real_t determinant() const;
|
|
|
|
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]);
|
|
}
|
|
_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;
|
|
}
|
|
|
|
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_euler);
|
|
Basis rotated(const Vector3 &p_euler) const;
|
|
|
|
Vector3 get_rotation() const;
|
|
void get_rotation_axis_angle(Vector3 &p_axis, real_t &p_angle) const;
|
|
|
|
void set_rotation_euler(const Vector3 &p_euler);
|
|
void set_rotation_axis_angle(const Vector3 &p_axis, real_t p_angle);
|
|
|
|
Vector3 get_euler_xyz() const;
|
|
void set_euler_xyz(const Vector3 &p_euler);
|
|
Vector3 get_euler_yxz() const;
|
|
void set_euler_yxz(const Vector3 &p_euler);
|
|
|
|
Vector3 get_euler() const { return get_euler_yxz(); };
|
|
void set_euler(const Vector3 &p_euler) { set_euler_yxz(p_euler); };
|
|
|
|
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 scale(const Vector3 &p_scale);
|
|
Basis scaled(const Vector3 &p_scale) const;
|
|
|
|
Vector3 get_scale() const;
|
|
void set_scale(const Vector3 &p_scale);
|
|
|
|
// 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];
|
|
}
|
|
_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];
|
|
}
|
|
_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];
|
|
}
|
|
|
|
bool is_equal_approx(const Basis &a, const Basis &b) const;
|
|
|
|
bool operator==(const Basis &p_matrix) const;
|
|
bool operator!=(const Basis &p_matrix) const;
|
|
|
|
_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*=(real_t p_val);
|
|
_FORCE_INLINE_ Basis operator*(real_t p_val) const;
|
|
|
|
int get_orthogonal_index() const;
|
|
void set_orthogonal_index(int p_index);
|
|
|
|
bool is_orthogonal() const;
|
|
bool is_rotation() const;
|
|
|
|
operator String() const;
|
|
|
|
/* 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;
|
|
}
|
|
_FORCE_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);
|
|
}
|
|
_FORCE_INLINE_ Vector3 get_column(int i) const {
|
|
|
|
return Vector3(elements[0][i], elements[1][i], elements[2][i]);
|
|
}
|
|
|
|
_FORCE_INLINE_ Vector3 get_row(int i) const {
|
|
|
|
return Vector3(elements[i][0], elements[i][1], elements[i][2]);
|
|
}
|
|
_FORCE_INLINE_ Vector3 get_main_diagonal() const {
|
|
return Vector3(elements[0][0], elements[1][1], elements[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;
|
|
}
|
|
|
|
_FORCE_INLINE_ void set_zero() {
|
|
elements[0].zero();
|
|
elements[1].zero();
|
|
elements[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);
|
|
}
|
|
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);
|
|
}
|
|
|
|
void orthonormalize();
|
|
Basis orthonormalized() const;
|
|
|
|
bool is_symmetric() const;
|
|
Basis diagonalize();
|
|
|
|
operator Quat() const;
|
|
|
|
Basis(const Quat &p_quat); // euler
|
|
Basis(const Vector3 &p_euler); // euler
|
|
Basis(const Vector3 &p_axis, real_t p_phi);
|
|
|
|
_FORCE_INLINE_ Basis(const Vector3 &row0, const Vector3 &row1, const Vector3 &row2) {
|
|
elements[0] = row0;
|
|
elements[1] = row1;
|
|
elements[2] = row2;
|
|
}
|
|
|
|
_FORCE_INLINE_ Basis() {
|
|
|
|
elements[0][0] = 1;
|
|
elements[0][1] = 0;
|
|
elements[0][2] = 0;
|
|
elements[1][0] = 0;
|
|
elements[1][1] = 1;
|
|
elements[1][2] = 0;
|
|
elements[2][0] = 0;
|
|
elements[2][1] = 0;
|
|
elements[2][2] = 1;
|
|
}
|
|
};
|
|
|
|
_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]));
|
|
}
|
|
|
|
_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]));
|
|
}
|
|
|
|
_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];
|
|
}
|
|
|
|
_FORCE_INLINE_ Basis Basis::operator+(const Basis &p_matrix) const {
|
|
|
|
Basis ret(*this);
|
|
ret += p_matrix;
|
|
return ret;
|
|
}
|
|
|
|
_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];
|
|
}
|
|
|
|
_FORCE_INLINE_ Basis Basis::operator-(const Basis &p_matrix) const {
|
|
|
|
Basis ret(*this);
|
|
ret -= p_matrix;
|
|
return ret;
|
|
}
|
|
|
|
_FORCE_INLINE_ void Basis::operator*=(real_t p_val) {
|
|
|
|
elements[0] *= p_val;
|
|
elements[1] *= p_val;
|
|
elements[2] *= p_val;
|
|
}
|
|
|
|
_FORCE_INLINE_ Basis Basis::operator*(real_t p_val) const {
|
|
|
|
Basis ret(*this);
|
|
ret *= p_val;
|
|
return ret;
|
|
}
|
|
|
|
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));
|
|
}
|
|
|
|
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));
|
|
}
|
|
|
|
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]);
|
|
}
|
|
#endif
|