diff options
Diffstat (limited to 'core/math')
| -rw-r--r-- | core/math/basis.cpp | 23 | ||||
| -rw-r--r-- | core/math/basis.h | 1 | ||||
| -rw-r--r-- | core/math/dynamic_bvh.h | 18 |
3 files changed, 32 insertions, 10 deletions
diff --git a/core/math/basis.cpp b/core/math/basis.cpp index 9796ac59c2..cd8c87b158 100644 --- a/core/math/basis.cpp +++ b/core/math/basis.cpp @@ -89,13 +89,26 @@ Basis Basis::orthogonalized() const { return c; } +// Returns true if the basis vectors are orthogonal (perpendicular), so it has no skew or shear, and can be decomposed into rotation and scale. +// See https://en.wikipedia.org/wiki/Orthogonal_basis bool Basis::is_orthogonal() const { - Basis identity; - Basis m = (*this) * transposed(); + const Vector3 x = get_column(0); + const Vector3 y = get_column(1); + const Vector3 z = get_column(2); + return Math::is_zero_approx(x.dot(y)) && Math::is_zero_approx(x.dot(z)) && Math::is_zero_approx(y.dot(z)); +} - return m.is_equal_approx(identity); +// Returns true if the basis vectors are orthonormal (orthogonal and normalized), so it has no scale, skew, or shear. +// See https://en.wikipedia.org/wiki/Orthonormal_basis +bool Basis::is_orthonormal() const { + const Vector3 x = get_column(0); + const Vector3 y = get_column(1); + const Vector3 z = get_column(2); + return Math::is_equal_approx(x.length_squared(), 1) && Math::is_equal_approx(y.length_squared(), 1) && Math::is_equal_approx(z.length_squared(), 1) && Math::is_zero_approx(x.dot(y)) && Math::is_zero_approx(x.dot(z)) && Math::is_zero_approx(y.dot(z)); } +// Returns true if the basis is conformal (orthogonal, uniform scale, preserves angles and distance ratios). +// See https://en.wikipedia.org/wiki/Conformal_linear_transformation bool Basis::is_conformal() const { const Vector3 x = get_column(0); const Vector3 y = get_column(1); @@ -104,6 +117,7 @@ bool Basis::is_conformal() const { return Math::is_equal_approx(x_len_sq, y.length_squared()) && Math::is_equal_approx(x_len_sq, z.length_squared()) && Math::is_zero_approx(x.dot(y)) && Math::is_zero_approx(x.dot(z)) && Math::is_zero_approx(y.dot(z)); } +// Returns true if the basis only has diagonal elements, so it may only have scale or flip, but no rotation, skew, or shear. bool Basis::is_diagonal() const { return ( Math::is_zero_approx(rows[0][1]) && Math::is_zero_approx(rows[0][2]) && @@ -111,8 +125,9 @@ bool Basis::is_diagonal() const { Math::is_zero_approx(rows[2][0]) && Math::is_zero_approx(rows[2][1])); } +// Returns true if the basis is a pure rotation matrix, so it has no scale, skew, shear, or flip. bool Basis::is_rotation() const { - return Math::is_equal_approx(determinant(), 1, (real_t)UNIT_EPSILON) && is_orthogonal(); + return is_conformal() && Math::is_equal_approx(determinant(), 1, (real_t)UNIT_EPSILON); } #ifdef MATH_CHECKS diff --git a/core/math/basis.h b/core/math/basis.h index adacd1c216..b4d971464e 100644 --- a/core/math/basis.h +++ b/core/math/basis.h @@ -138,6 +138,7 @@ struct _NO_DISCARD_ Basis { _FORCE_INLINE_ Basis operator*(const real_t p_val) const; bool is_orthogonal() const; + bool is_orthonormal() const; bool is_conformal() const; bool is_diagonal() const; bool is_rotation() const; diff --git a/core/math/dynamic_bvh.h b/core/math/dynamic_bvh.h index dbc1cb31de..9b49fcc3c8 100644 --- a/core/math/dynamic_bvh.h +++ b/core/math/dynamic_bvh.h @@ -328,7 +328,8 @@ void DynamicBVH::aabb_query(const AABB &p_box, QueryResult &r_result) { volume.min = p_box.position; volume.max = p_box.position + p_box.size; - const Node **stack = (const Node **)alloca(ALLOCA_STACK_SIZE * sizeof(const Node *)); + const Node **alloca_stack = (const Node **)alloca(ALLOCA_STACK_SIZE * sizeof(const Node *)); + const Node **stack = alloca_stack; stack[0] = bvh_root; int32_t depth = 1; int32_t threshold = ALLOCA_STACK_SIZE - 2; @@ -343,7 +344,8 @@ void DynamicBVH::aabb_query(const AABB &p_box, QueryResult &r_result) { if (depth > threshold) { if (aux_stack.is_empty()) { aux_stack.resize(ALLOCA_STACK_SIZE * 2); - memcpy(aux_stack.ptr(), stack, ALLOCA_STACK_SIZE * sizeof(const Node *)); + memcpy(aux_stack.ptr(), alloca_stack, ALLOCA_STACK_SIZE * sizeof(const Node *)); + alloca_stack = nullptr; } else { aux_stack.resize(aux_stack.size() * 2); } @@ -384,7 +386,8 @@ void DynamicBVH::convex_query(const Plane *p_planes, int p_plane_count, const Ve } } - const Node **stack = (const Node **)alloca(ALLOCA_STACK_SIZE * sizeof(const Node *)); + const Node **alloca_stack = (const Node **)alloca(ALLOCA_STACK_SIZE * sizeof(const Node *)); + const Node **stack = alloca_stack; stack[0] = bvh_root; int32_t depth = 1; int32_t threshold = ALLOCA_STACK_SIZE - 2; @@ -399,7 +402,8 @@ void DynamicBVH::convex_query(const Plane *p_planes, int p_plane_count, const Ve if (depth > threshold) { if (aux_stack.is_empty()) { aux_stack.resize(ALLOCA_STACK_SIZE * 2); - memcpy(aux_stack.ptr(), stack, ALLOCA_STACK_SIZE * sizeof(const Node *)); + memcpy(aux_stack.ptr(), alloca_stack, ALLOCA_STACK_SIZE * sizeof(const Node *)); + alloca_stack = nullptr; } else { aux_stack.resize(aux_stack.size() * 2); } @@ -436,7 +440,8 @@ void DynamicBVH::ray_query(const Vector3 &p_from, const Vector3 &p_to, QueryResu Vector3 bounds[2]; - const Node **stack = (const Node **)alloca(ALLOCA_STACK_SIZE * sizeof(const Node *)); + const Node **alloca_stack = (const Node **)alloca(ALLOCA_STACK_SIZE * sizeof(const Node *)); + const Node **stack = alloca_stack; stack[0] = bvh_root; int32_t depth = 1; int32_t threshold = ALLOCA_STACK_SIZE - 2; @@ -456,7 +461,8 @@ void DynamicBVH::ray_query(const Vector3 &p_from, const Vector3 &p_to, QueryResu if (depth > threshold) { if (aux_stack.is_empty()) { aux_stack.resize(ALLOCA_STACK_SIZE * 2); - memcpy(aux_stack.ptr(), stack, ALLOCA_STACK_SIZE * sizeof(const Node *)); + memcpy(aux_stack.ptr(), alloca_stack, ALLOCA_STACK_SIZE * sizeof(const Node *)); + alloca_stack = nullptr; } else { aux_stack.resize(aux_stack.size() * 2); } |