diff --git a/core/math/basis.cpp b/core/math/basis.cpp index faec5735b99..461f5839d67 100644 --- a/core/math/basis.cpp +++ b/core/math/basis.cpp @@ -73,9 +73,9 @@ void Basis::invert() { void Basis::orthonormalize() { // Gram-Schmidt Process - Vector3 x = get_axis(0); - Vector3 y = get_axis(1); - Vector3 z = get_axis(2); + Vector3 x = get_column(0); + Vector3 y = get_column(1); + Vector3 z = get_column(2); x.normalize(); y = (y - x * (x.dot(y))); @@ -83,9 +83,9 @@ void Basis::orthonormalize() { z = (z - x * (x.dot(z)) - y * (y.dot(z))); z.normalize(); - set_axis(0, x); - set_axis(1, y); - set_axis(2, z); + set_column(0, x); + set_column(1, y); + set_column(2, z); } Basis Basis::orthonormalized() const { @@ -260,7 +260,7 @@ Basis Basis::scaled_orthogonal(const Vector3 &p_scale) const { Basis b; for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { - dots[j] += s[i] * abs(m.get_axis(i).normalized().dot(b.get_axis(j))); + dots[j] += s[i] * abs(m.get_column(i).normalized().dot(b.get_column(j))); } } m.scale_local(Vector3(1, 1, 1) + dots); @@ -708,9 +708,9 @@ bool Basis::operator!=(const Basis &p_matrix) const { } Basis::operator String() const { - return "[X: " + get_axis(0).operator String() + - ", Y: " + get_axis(1).operator String() + - ", Z: " + get_axis(2).operator String() + "]"; + return "[X: " + get_column(0).operator String() + + ", Y: " + get_column(1).operator String() + + ", Z: " + get_column(2).operator String() + "]"; } Quaternion Basis::get_quaternion() const { @@ -1107,6 +1107,6 @@ Basis Basis::looking_at(const Vector3 &p_target, const Vector3 &p_up) { Vector3 v_y = v_z.cross(v_x); Basis basis; - basis.set(v_x, v_y, v_z); + basis.set_columns(v_x, v_y, v_z); return basis; } diff --git a/core/math/basis.h b/core/math/basis.h index 7bd75be0912..f9b13072adf 100644 --- a/core/math/basis.h +++ b/core/math/basis.h @@ -58,17 +58,6 @@ struct _NO_DISCARD_ Basis { void from_z(const Vector3 &p_z); - _FORCE_INLINE_ Vector3 get_axis(int p_axis) const { - // get actual basis axis column (we store transposed as rows 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 column (we store transposed as rows 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); Basis rotated(const Vector3 &p_axis, real_t p_phi) const; @@ -186,28 +175,28 @@ struct _NO_DISCARD_ Basis { 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); - set_axis(1, p_y); - set_axis(2, p_z); - } - _FORCE_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); } - _FORCE_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]); } + + _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; + } + _FORCE_INLINE_ Vector3 get_main_diagonal() const { return Vector3(rows[0][0], rows[1][1], rows[2][2]); } - _FORCE_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_ void set_zero() { rows[0].zero(); rows[1].zero(); diff --git a/core/math/transform_2d.h b/core/math/transform_2d.h index 1ad874aef9a..6531633d39e 100644 --- a/core/math/transform_2d.h +++ b/core/math/transform_2d.h @@ -58,15 +58,6 @@ struct _NO_DISCARD_ Transform2D { const Vector2 &operator[](int p_idx) const { return columns[p_idx]; } Vector2 &operator[](int p_idx) { return columns[p_idx]; } - _FORCE_INLINE_ Vector2 get_axis(int p_axis) const { - ERR_FAIL_INDEX_V(p_axis, 3, Vector2()); - return columns[p_axis]; - } - _FORCE_INLINE_ void set_axis(int p_axis, const Vector2 &p_vec) { - ERR_FAIL_INDEX(p_axis, 3); - columns[p_axis] = p_vec; - } - void invert(); Transform2D inverse() const; diff --git a/core/math/transform_3d.cpp b/core/math/transform_3d.cpp index e5374315e2e..b5fe16bca63 100644 --- a/core/math/transform_3d.cpp +++ b/core/math/transform_3d.cpp @@ -194,9 +194,9 @@ Transform3D Transform3D::operator*(const real_t p_val) const { } Transform3D::operator String() const { - return "[X: " + basis.get_axis(0).operator String() + - ", Y: " + basis.get_axis(1).operator String() + - ", Z: " + basis.get_axis(2).operator String() + + return "[X: " + basis.get_column(0).operator String() + + ", Y: " + basis.get_column(1).operator String() + + ", Z: " + basis.get_column(2).operator String() + ", O: " + origin.operator String() + "]"; } @@ -207,9 +207,9 @@ Transform3D::Transform3D(const Basis &p_basis, const Vector3 &p_origin) : Transform3D::Transform3D(const Vector3 &p_x, const Vector3 &p_y, const Vector3 &p_z, const Vector3 &p_origin) : origin(p_origin) { - basis.set_axis(0, p_x); - basis.set_axis(1, p_y); - basis.set_axis(2, p_z); + basis.set_column(0, p_x); + basis.set_column(1, p_y); + basis.set_column(2, p_z); } Transform3D::Transform3D(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, real_t ox, real_t oy, real_t oz) { diff --git a/core/variant/variant_setget.cpp b/core/variant/variant_setget.cpp index 09097e30e01..6023e4d1291 100644 --- a/core/variant/variant_setget.cpp +++ b/core/variant/variant_setget.cpp @@ -790,7 +790,7 @@ INDEXED_SETGET_STRUCT_BULTIN_NUMERIC(Quaternion, double, real_t, 4) INDEXED_SETGET_STRUCT_BULTIN_NUMERIC(Color, double, float, 4) INDEXED_SETGET_STRUCT_BULTIN_ACCESSOR(Transform2D, Vector2, .columns, 3) -INDEXED_SETGET_STRUCT_BULTIN_FUNC(Basis, Vector3, set_axis, get_axis, 3) +INDEXED_SETGET_STRUCT_BULTIN_FUNC(Basis, Vector3, set_column, get_column, 3) INDEXED_SETGET_STRUCT_TYPED_NUMERIC(PackedByteArray, int64_t, uint8_t) INDEXED_SETGET_STRUCT_TYPED_NUMERIC(PackedInt32Array, int64_t, int32_t) diff --git a/core/variant/variant_setget.h b/core/variant/variant_setget.h index 2083e641253..3b95f0531bd 100644 --- a/core/variant/variant_setget.h +++ b/core/variant/variant_setget.h @@ -308,9 +308,9 @@ SETGET_NUMBER_STRUCT(Quaternion, double, y) SETGET_NUMBER_STRUCT(Quaternion, double, z) SETGET_NUMBER_STRUCT(Quaternion, double, w) -SETGET_STRUCT_FUNC_INDEX(Basis, Vector3, x, set_axis, get_axis, 0) -SETGET_STRUCT_FUNC_INDEX(Basis, Vector3, y, set_axis, get_axis, 1) -SETGET_STRUCT_FUNC_INDEX(Basis, Vector3, z, set_axis, get_axis, 2) +SETGET_STRUCT_FUNC_INDEX(Basis, Vector3, x, set_column, get_column, 0) +SETGET_STRUCT_FUNC_INDEX(Basis, Vector3, y, set_column, get_column, 1) +SETGET_STRUCT_FUNC_INDEX(Basis, Vector3, z, set_column, get_column, 2) SETGET_STRUCT(Transform3D, Basis, basis) SETGET_STRUCT(Transform3D, Vector3, origin) diff --git a/drivers/gles3/rasterizer_scene_gles3.cpp b/drivers/gles3/rasterizer_scene_gles3.cpp index 09a02b786c8..e0373ab8e80 100644 --- a/drivers/gles3/rasterizer_scene_gles3.cpp +++ b/drivers/gles3/rasterizer_scene_gles3.cpp @@ -638,7 +638,7 @@ void RasterizerSceneGLES3::render_scene(RID p_render_buffers, const CameraData * // this should be the same for all cameras.. render_data.lod_distance_multiplier = p_camera_data->main_projection.get_lod_multiplier(); - render_data.lod_camera_plane = Plane(-p_camera_data->main_transform.basis.get_axis(Vector3::AXIS_Z), p_camera_data->main_transform.get_origin()); + render_data.lod_camera_plane = Plane(-p_camera_data->main_transform.basis.get_column(Vector3::AXIS_Z), p_camera_data->main_transform.get_origin()); if (get_debug_draw_mode() == RS::VIEWPORT_DEBUG_DRAW_DISABLE_LOD) { render_data.screen_mesh_lod_threshold = 0.0; diff --git a/editor/plugins/multimesh_editor_plugin.cpp b/editor/plugins/multimesh_editor_plugin.cpp index 850c673c127..b54fa41e888 100644 --- a/editor/plugins/multimesh_editor_plugin.cpp +++ b/editor/plugins/multimesh_editor_plugin.cpp @@ -200,9 +200,9 @@ void MultiMeshEditor::_populate() { Basis post_xform; - post_xform.rotate(xform.basis.get_axis(1), -Math::random(-_rotate_random, _rotate_random) * Math_PI); - post_xform.rotate(xform.basis.get_axis(2), -Math::random(-_tilt_random, _tilt_random) * Math_PI); - post_xform.rotate(xform.basis.get_axis(0), -Math::random(-_tilt_random, _tilt_random) * Math_PI); + post_xform.rotate(xform.basis.get_column(1), -Math::random(-_rotate_random, _rotate_random) * Math_PI); + post_xform.rotate(xform.basis.get_column(2), -Math::random(-_tilt_random, _tilt_random) * Math_PI); + post_xform.rotate(xform.basis.get_column(0), -Math::random(-_tilt_random, _tilt_random) * Math_PI); xform.basis = post_xform * xform.basis; //xform.basis.orthonormalize(); diff --git a/editor/plugins/node_3d_editor_gizmos.cpp b/editor/plugins/node_3d_editor_gizmos.cpp index 47c8c66c57f..6829e25ef3e 100644 --- a/editor/plugins/node_3d_editor_gizmos.cpp +++ b/editor/plugins/node_3d_editor_gizmos.cpp @@ -589,7 +589,7 @@ void EditorNode3DGizmo::handles_intersect_ray(Camera3D *p_camera, const Vector2 Transform3D camera_xform = p_camera->get_global_transform(); Transform3D t = spatial_node->get_global_transform(); if (billboard_handle) { - t.set_look_at(t.origin, t.origin - camera_xform.basis.get_axis(2), camera_xform.basis.get_axis(1)); + t.set_look_at(t.origin, t.origin - camera_xform.basis.get_column(2), camera_xform.basis.get_column(1)); } float min_d = 1e20; @@ -665,7 +665,7 @@ bool EditorNode3DGizmo::intersect_ray(Camera3D *p_camera, const Point2 &p_point, Transform3D orig_camera_transform = p_camera->get_camera_transform(); if (!orig_camera_transform.origin.is_equal_approx(t.origin) && - ABS(orig_camera_transform.basis.get_axis(Vector3::AXIS_Z).dot(Vector3(0, 1, 0))) < 0.99) { + ABS(orig_camera_transform.basis.get_column(Vector3::AXIS_Z).dot(Vector3(0, 1, 0))) < 0.99) { p_camera->look_at(t.origin); } @@ -689,13 +689,13 @@ bool EditorNode3DGizmo::intersect_ray(Camera3D *p_camera, const Point2 &p_point, } if (collision_segments.size()) { - Plane camp(-p_camera->get_transform().basis.get_axis(2).normalized(), p_camera->get_transform().origin); + Plane camp(-p_camera->get_transform().basis.get_column(2).normalized(), p_camera->get_transform().origin); int vc = collision_segments.size(); const Vector3 *vptr = collision_segments.ptr(); Transform3D t = spatial_node->get_global_transform(); if (billboard_handle) { - t.set_look_at(t.origin, t.origin - p_camera->get_transform().basis.get_axis(2), p_camera->get_transform().basis.get_axis(1)); + t.set_look_at(t.origin, t.origin - p_camera->get_transform().basis.get_column(2), p_camera->get_transform().basis.get_column(1)); } Vector3 cp; @@ -742,7 +742,7 @@ bool EditorNode3DGizmo::intersect_ray(Camera3D *p_camera, const Point2 &p_point, Transform3D gt = spatial_node->get_global_transform(); if (billboard_handle) { - gt.set_look_at(gt.origin, gt.origin - p_camera->get_transform().basis.get_axis(2), p_camera->get_transform().basis.get_axis(1)); + gt.set_look_at(gt.origin, gt.origin - p_camera->get_transform().basis.get_column(2), p_camera->get_transform().basis.get_column(1)); } Transform3D ai = gt.affine_inverse(); @@ -1319,7 +1319,7 @@ void Light3DGizmoPlugin::set_handle(const EditorNode3DGizmo *p_gizmo, int p_id, light->set_param(Light3D::PARAM_RANGE, d); } else if (Object::cast_to(light)) { - Plane cp = Plane(p_camera->get_transform().basis.get_axis(2), gt.origin); + Plane cp = Plane(p_camera->get_transform().basis.get_column(2), gt.origin); Vector3 inters; if (cp.intersects_ray(ray_from, ray_dir, &inters)) { @@ -4832,7 +4832,7 @@ Basis JointGizmosDrawer::look_body(const Transform3D &p_joint_transform, const T v_y.normalize(); Basis base; - base.set(v_x, v_y, v_z); + base.set_columns(v_x, v_y, v_z); // Absorb current joint transform base = p_joint_transform.basis.inverse() * base; @@ -4857,7 +4857,7 @@ Basis JointGizmosDrawer::look_body_toward_x(const Transform3D &p_joint_transform const Vector3 &p_eye(p_joint_transform.origin); const Vector3 &p_target(p_body_transform.origin); - const Vector3 p_front(p_joint_transform.basis.get_axis(0)); + const Vector3 p_front(p_joint_transform.basis.get_column(0)); Vector3 v_x, v_y, v_z; @@ -4876,7 +4876,7 @@ Basis JointGizmosDrawer::look_body_toward_x(const Transform3D &p_joint_transform v_x.normalize(); Basis base; - base.set(v_x, v_y, v_z); + base.set_columns(v_x, v_y, v_z); // Absorb current joint transform base = p_joint_transform.basis.inverse() * base; @@ -4888,7 +4888,7 @@ Basis JointGizmosDrawer::look_body_toward_y(const Transform3D &p_joint_transform const Vector3 &p_eye(p_joint_transform.origin); const Vector3 &p_target(p_body_transform.origin); - const Vector3 p_up(p_joint_transform.basis.get_axis(1)); + const Vector3 p_up(p_joint_transform.basis.get_column(1)); Vector3 v_x, v_y, v_z; @@ -4907,7 +4907,7 @@ Basis JointGizmosDrawer::look_body_toward_y(const Transform3D &p_joint_transform v_y.normalize(); Basis base; - base.set(v_x, v_y, v_z); + base.set_columns(v_x, v_y, v_z); // Absorb current joint transform base = p_joint_transform.basis.inverse() * base; @@ -4919,7 +4919,7 @@ Basis JointGizmosDrawer::look_body_toward_z(const Transform3D &p_joint_transform const Vector3 &p_eye(p_joint_transform.origin); const Vector3 &p_target(p_body_transform.origin); - const Vector3 p_lateral(p_joint_transform.basis.get_axis(2)); + const Vector3 p_lateral(p_joint_transform.basis.get_column(2)); Vector3 v_x, v_y, v_z; @@ -4938,7 +4938,7 @@ Basis JointGizmosDrawer::look_body_toward_z(const Transform3D &p_joint_transform v_x.normalize(); Basis base; - base.set(v_x, v_y, v_z); + base.set_columns(v_x, v_y, v_z); // Absorb current joint transform base = p_joint_transform.basis.inverse() * base; diff --git a/editor/plugins/node_3d_editor_plugin.cpp b/editor/plugins/node_3d_editor_plugin.cpp index 344efb4f136..e0fc42165b0 100644 --- a/editor/plugins/node_3d_editor_plugin.cpp +++ b/editor/plugins/node_3d_editor_plugin.cpp @@ -159,7 +159,7 @@ void ViewportRotationControl::_get_sorted_axis(Vector &r_axis) { const Basis camera_basis = viewport->to_camera_transform(viewport->cursor).get_basis().inverse(); for (int i = 0; i < 3; ++i) { - Vector3 axis_3d = camera_basis.get_axis(i); + Vector3 axis_3d = camera_basis.get_column(i); Vector2i axis_vector = Vector2(axis_3d.x, -axis_3d.y) * radius; if (Math::abs(axis_3d.z) < 1.0) { @@ -440,7 +440,7 @@ Vector3 Node3DEditorViewport::_get_ray_pos(const Vector2 &p_pos) const { } Vector3 Node3DEditorViewport::_get_camera_normal() const { - return -_get_camera_transform().basis.get_axis(2); + return -_get_camera_transform().basis.get_column(2); } Vector3 Node3DEditorViewport::_get_ray(const Vector2 &p_pos) const { @@ -983,7 +983,7 @@ bool Node3DEditorViewport::_transform_gizmo_select(const Vector2 &p_screenpos, b real_t col_d = 1e20; for (int i = 0; i < 3; i++) { - const Vector3 grabber_pos = gt.origin + gt.basis.get_axis(i).normalized() * gizmo_scale * (GIZMO_ARROW_OFFSET + (GIZMO_ARROW_SIZE * 0.5)); + const Vector3 grabber_pos = gt.origin + gt.basis.get_column(i).normalized() * gizmo_scale * (GIZMO_ARROW_OFFSET + (GIZMO_ARROW_SIZE * 0.5)); const real_t grabber_radius = gizmo_scale * GIZMO_ARROW_SIZE; Vector3 r; @@ -1003,15 +1003,15 @@ bool Node3DEditorViewport::_transform_gizmo_select(const Vector2 &p_screenpos, b col_d = 1e20; for (int i = 0; i < 3; i++) { - Vector3 ivec2 = gt.basis.get_axis((i + 1) % 3).normalized(); - Vector3 ivec3 = gt.basis.get_axis((i + 2) % 3).normalized(); + Vector3 ivec2 = gt.basis.get_column((i + 1) % 3).normalized(); + Vector3 ivec3 = gt.basis.get_column((i + 2) % 3).normalized(); // Allow some tolerance to make the plane easier to click, // even if the click is actually slightly outside the plane. const Vector3 grabber_pos = gt.origin + (ivec2 + ivec3) * gizmo_scale * (GIZMO_PLANE_SIZE + GIZMO_PLANE_DST * 0.6667); Vector3 r; - Plane plane(gt.basis.get_axis(i).normalized(), gt.origin); + Plane plane(gt.basis.get_column(i).normalized(), gt.origin); if (plane.intersects_ray(ray_pos, ray, &r)) { const real_t dist = r.distance_to(grabber_pos); @@ -1064,7 +1064,7 @@ bool Node3DEditorViewport::_transform_gizmo_select(const Vector2 &p_screenpos, b float col_d = 1e20; for (int i = 0; i < 3; i++) { - Plane plane(gt.basis.get_axis(i).normalized(), gt.origin); + Plane plane(gt.basis.get_column(i).normalized(), gt.origin); Vector3 r; if (!plane.intersects_ray(ray_pos, ray, &r)) { continue; @@ -1103,7 +1103,7 @@ bool Node3DEditorViewport::_transform_gizmo_select(const Vector2 &p_screenpos, b float col_d = 1e20; for (int i = 0; i < 3; i++) { - const Vector3 grabber_pos = gt.origin + gt.basis.get_axis(i).normalized() * gizmo_scale * GIZMO_SCALE_OFFSET; + const Vector3 grabber_pos = gt.origin + gt.basis.get_column(i).normalized() * gizmo_scale * GIZMO_SCALE_OFFSET; const real_t grabber_radius = gizmo_scale * GIZMO_ARROW_SIZE; Vector3 r; @@ -1123,15 +1123,15 @@ bool Node3DEditorViewport::_transform_gizmo_select(const Vector2 &p_screenpos, b col_d = 1e20; for (int i = 0; i < 3; i++) { - const Vector3 ivec2 = gt.basis.get_axis((i + 1) % 3).normalized(); - const Vector3 ivec3 = gt.basis.get_axis((i + 2) % 3).normalized(); + const Vector3 ivec2 = gt.basis.get_column((i + 1) % 3).normalized(); + const Vector3 ivec3 = gt.basis.get_column((i + 2) % 3).normalized(); // Allow some tolerance to make the plane easier to click, // even if the click is actually slightly outside the plane. const Vector3 grabber_pos = gt.origin + (ivec2 + ivec3) * gizmo_scale * (GIZMO_PLANE_SIZE + GIZMO_PLANE_DST * 0.6667); Vector3 r; - Plane plane(gt.basis.get_axis(i).normalized(), gt.origin); + Plane plane(gt.basis.get_column(i).normalized(), gt.origin); if (plane.intersects_ray(ray_pos, ray, &r)) { const real_t dist = r.distance_to(grabber_pos); @@ -3389,8 +3389,8 @@ void Node3DEditorViewport::update_transform_gizmo_view() { return; } - const Vector3 camz = -camera_xform.get_basis().get_axis(2).normalized(); - const Vector3 camy = -camera_xform.get_basis().get_axis(1).normalized(); + const Vector3 camz = -camera_xform.get_basis().get_column(2).normalized(); + const Vector3 camy = -camera_xform.get_basis().get_column(1).normalized(); const Plane p = Plane(camz, camera_xform.origin); const real_t gizmo_d = MAX(Math::abs(p.distance_to(xform.origin)), CMP_EPSILON); const real_t d0 = camera->unproject_position(camera_xform.origin + camz * gizmo_d).y; @@ -3424,8 +3424,8 @@ void Node3DEditorViewport::update_transform_gizmo_view() { for (int i = 0; i < 3; i++) { Transform3D axis_angle = Transform3D(); - if (xform.basis.get_axis(i).normalized().dot(xform.basis.get_axis((i + 1) % 3).normalized()) < 1.0) { - axis_angle = axis_angle.looking_at(xform.basis.get_axis(i).normalized(), xform.basis.get_axis((i + 1) % 3).normalized()); + if (xform.basis.get_column(i).normalized().dot(xform.basis.get_column((i + 1) % 3).normalized()) < 1.0) { + axis_angle = axis_angle.looking_at(xform.basis.get_column(i).normalized(), xform.basis.get_column((i + 1) % 3).normalized()); } axis_angle.basis.scale(scale); axis_angle.origin = xform.origin; @@ -4087,30 +4087,30 @@ void Node3DEditorViewport::update_transform(Point2 p_mousepos, bool p_shift) { plane = Plane(_get_camera_normal(), _edit.center); break; case TRANSFORM_X_AXIS: - motion_mask = spatial_editor->get_gizmo_transform().basis.get_axis(0).normalized(); + motion_mask = spatial_editor->get_gizmo_transform().basis.get_column(0).normalized(); plane = Plane(motion_mask.cross(motion_mask.cross(_get_camera_normal())).normalized(), _edit.center); break; case TRANSFORM_Y_AXIS: - motion_mask = spatial_editor->get_gizmo_transform().basis.get_axis(1).normalized(); + motion_mask = spatial_editor->get_gizmo_transform().basis.get_column(1).normalized(); plane = Plane(motion_mask.cross(motion_mask.cross(_get_camera_normal())).normalized(), _edit.center); break; case TRANSFORM_Z_AXIS: - motion_mask = spatial_editor->get_gizmo_transform().basis.get_axis(2).normalized(); + motion_mask = spatial_editor->get_gizmo_transform().basis.get_column(2).normalized(); plane = Plane(motion_mask.cross(motion_mask.cross(_get_camera_normal())).normalized(), _edit.center); break; case TRANSFORM_YZ: - motion_mask = spatial_editor->get_gizmo_transform().basis.get_axis(2).normalized() + spatial_editor->get_gizmo_transform().basis.get_axis(1).normalized(); - plane = Plane(spatial_editor->get_gizmo_transform().basis.get_axis(0).normalized(), _edit.center); + motion_mask = spatial_editor->get_gizmo_transform().basis.get_column(2).normalized() + spatial_editor->get_gizmo_transform().basis.get_column(1).normalized(); + plane = Plane(spatial_editor->get_gizmo_transform().basis.get_column(0).normalized(), _edit.center); plane_mv = true; break; case TRANSFORM_XZ: - motion_mask = spatial_editor->get_gizmo_transform().basis.get_axis(2).normalized() + spatial_editor->get_gizmo_transform().basis.get_axis(0).normalized(); - plane = Plane(spatial_editor->get_gizmo_transform().basis.get_axis(1).normalized(), _edit.center); + motion_mask = spatial_editor->get_gizmo_transform().basis.get_column(2).normalized() + spatial_editor->get_gizmo_transform().basis.get_column(0).normalized(); + plane = Plane(spatial_editor->get_gizmo_transform().basis.get_column(1).normalized(), _edit.center); plane_mv = true; break; case TRANSFORM_XY: - motion_mask = spatial_editor->get_gizmo_transform().basis.get_axis(0).normalized() + spatial_editor->get_gizmo_transform().basis.get_axis(1).normalized(); - plane = Plane(spatial_editor->get_gizmo_transform().basis.get_axis(2).normalized(), _edit.center); + motion_mask = spatial_editor->get_gizmo_transform().basis.get_column(0).normalized() + spatial_editor->get_gizmo_transform().basis.get_column(1).normalized(); + plane = Plane(spatial_editor->get_gizmo_transform().basis.get_column(2).normalized(), _edit.center); plane_mv = true; break; } @@ -4209,27 +4209,27 @@ void Node3DEditorViewport::update_transform(Point2 p_mousepos, bool p_shift) { plane = Plane(_get_camera_normal(), _edit.center); break; case TRANSFORM_X_AXIS: - motion_mask = spatial_editor->get_gizmo_transform().basis.get_axis(0).normalized(); + motion_mask = spatial_editor->get_gizmo_transform().basis.get_column(0).normalized(); plane = Plane(motion_mask.cross(motion_mask.cross(_get_camera_normal())).normalized(), _edit.center); break; case TRANSFORM_Y_AXIS: - motion_mask = spatial_editor->get_gizmo_transform().basis.get_axis(1).normalized(); + motion_mask = spatial_editor->get_gizmo_transform().basis.get_column(1).normalized(); plane = Plane(motion_mask.cross(motion_mask.cross(_get_camera_normal())).normalized(), _edit.center); break; case TRANSFORM_Z_AXIS: - motion_mask = spatial_editor->get_gizmo_transform().basis.get_axis(2).normalized(); + motion_mask = spatial_editor->get_gizmo_transform().basis.get_column(2).normalized(); plane = Plane(motion_mask.cross(motion_mask.cross(_get_camera_normal())).normalized(), _edit.center); break; case TRANSFORM_YZ: - plane = Plane(spatial_editor->get_gizmo_transform().basis.get_axis(0).normalized(), _edit.center); + plane = Plane(spatial_editor->get_gizmo_transform().basis.get_column(0).normalized(), _edit.center); plane_mv = true; break; case TRANSFORM_XZ: - plane = Plane(spatial_editor->get_gizmo_transform().basis.get_axis(1).normalized(), _edit.center); + plane = Plane(spatial_editor->get_gizmo_transform().basis.get_column(1).normalized(), _edit.center); plane_mv = true; break; case TRANSFORM_XY: - plane = Plane(spatial_editor->get_gizmo_transform().basis.get_axis(2).normalized(), _edit.center); + plane = Plane(spatial_editor->get_gizmo_transform().basis.get_column(2).normalized(), _edit.center); plane_mv = true; break; } @@ -6469,7 +6469,7 @@ void Node3DEditor::_init_grid() { if (orthogonal) { camera_distance = camera->get_size() / 2.0; - Vector3 camera_direction = -camera->get_global_transform().get_basis().get_axis(2); + Vector3 camera_direction = -camera->get_global_transform().get_basis().get_column(2); Plane grid_plane = Plane(normal); Vector3 intersection; if (grid_plane.intersects_ray(camera_position, camera_direction, &intersection)) { @@ -7338,7 +7338,7 @@ void Node3DEditor::clear() { void Node3DEditor::_sun_direction_draw() { sun_direction->draw_rect(Rect2(Vector2(), sun_direction->get_size()), Color(1, 1, 1, 1)); - Vector3 z_axis = preview_sun->get_transform().basis.get_axis(Vector3::AXIS_Z); + Vector3 z_axis = preview_sun->get_transform().basis.get_column(Vector3::AXIS_Z); z_axis = get_editor_viewport(0)->camera->get_camera_transform().basis.xform_inv(z_axis); sun_direction_material->set_shader_param("sun_direction", Vector3(z_axis.x, -z_axis.y, z_axis.z)); Color color = sun_color->get_pick_color() * sun_energy->get_value(); diff --git a/editor/plugins/path_3d_editor_plugin.cpp b/editor/plugins/path_3d_editor_plugin.cpp index 3284af7bb5a..3851738cfa7 100644 --- a/editor/plugins/path_3d_editor_plugin.cpp +++ b/editor/plugins/path_3d_editor_plugin.cpp @@ -102,7 +102,7 @@ void Path3DGizmo::set_handle(int p_id, bool p_secondary, Camera3D *p_camera, con // Setting curve point positions if (!p_secondary) { - const Plane p = Plane(p_camera->get_transform().basis.get_axis(2), gt.xform(original)); + const Plane p = Plane(p_camera->get_transform().basis.get_column(2), gt.xform(original)); Vector3 inters; @@ -126,7 +126,7 @@ void Path3DGizmo::set_handle(int p_id, bool p_secondary, Camera3D *p_camera, con Vector3 base = c->get_point_position(idx); - Plane p(p_camera->get_transform().basis.get_axis(2), gt.xform(original)); + Plane p(p_camera->get_transform().basis.get_column(2), gt.xform(original)); Vector3 inters; @@ -396,7 +396,7 @@ EditorPlugin::AfterGUIInput Path3DEditorPlugin::forward_spatial_gui_input(Camera } else { origin = gt.xform(c->get_point_position(c->get_point_count() - 1)); } - Plane p(p_camera->get_transform().basis.get_axis(2), origin); + Plane p(p_camera->get_transform().basis.get_column(2), origin); Vector3 ray_from = p_camera->project_ray_origin(mbpos); Vector3 ray_dir = p_camera->project_ray_normal(mbpos); diff --git a/editor/plugins/polygon_3d_editor_plugin.cpp b/editor/plugins/polygon_3d_editor_plugin.cpp index 2d4812c55b6..1c69e0d6357 100644 --- a/editor/plugins/polygon_3d_editor_plugin.cpp +++ b/editor/plugins/polygon_3d_editor_plugin.cpp @@ -117,7 +117,7 @@ EditorPlugin::AfterGUIInput Polygon3DEditor::forward_spatial_gui_input(Camera3D Transform3D gt = node->get_global_transform(); Transform3D gi = gt.affine_inverse(); float depth = _get_depth() * 0.5; - Vector3 n = gt.basis.get_axis(2).normalized(); + Vector3 n = gt.basis.get_column(2).normalized(); Plane p(n, gt.origin + n * depth); Ref mb = p_event; diff --git a/modules/csg/csg.cpp b/modules/csg/csg.cpp index 82dc4a4175c..760ee0846d1 100644 --- a/modules/csg/csg.cpp +++ b/modules/csg/csg.cpp @@ -1336,9 +1336,9 @@ CSGBrushOperation::Build2DFaces::Build2DFaces(const CSGBrush &p_brush, int p_fac plane = Plane(points_3D[0], points_3D[1], points_3D[2]); to_3D.origin = points_3D[0]; - to_3D.basis.set_axis(2, plane.normal); - to_3D.basis.set_axis(0, (points_3D[1] - points_3D[2]).normalized()); - to_3D.basis.set_axis(1, to_3D.basis.get_axis(0).cross(to_3D.basis.get_axis(2)).normalized()); + to_3D.basis.set_column(2, plane.normal); + to_3D.basis.set_column(0, (points_3D[1] - points_3D[2]).normalized()); + to_3D.basis.set_column(1, to_3D.basis.get_column(0).cross(to_3D.basis.get_column(2)).normalized()); to_2D = to_3D.affine_inverse(); Face2D face; diff --git a/modules/gltf/gltf_document.cpp b/modules/gltf/gltf_document.cpp index 281f62c4ad5..082b4ce1ec1 100644 --- a/modules/gltf/gltf_document.cpp +++ b/modules/gltf/gltf_document.cpp @@ -360,9 +360,9 @@ static Transform3D _arr_to_xform(const Array &p_array) { ERR_FAIL_COND_V(p_array.size() != 16, Transform3D()); Transform3D xform; - xform.basis.set_axis(Vector3::AXIS_X, Vector3(p_array[0], p_array[1], p_array[2])); - xform.basis.set_axis(Vector3::AXIS_Y, Vector3(p_array[4], p_array[5], p_array[6])); - xform.basis.set_axis(Vector3::AXIS_Z, Vector3(p_array[8], p_array[9], p_array[10])); + xform.basis.set_column(Vector3::AXIS_X, Vector3(p_array[0], p_array[1], p_array[2])); + xform.basis.set_column(Vector3::AXIS_Y, Vector3(p_array[4], p_array[5], p_array[6])); + xform.basis.set_column(Vector3::AXIS_Z, Vector3(p_array[8], p_array[9], p_array[10])); xform.set_origin(Vector3(p_array[12], p_array[13], p_array[14])); return xform; @@ -371,17 +371,17 @@ static Transform3D _arr_to_xform(const Array &p_array) { static Vector _xform_to_array(const Transform3D p_transform) { Vector array; array.resize(16); - Vector3 axis_x = p_transform.get_basis().get_axis(Vector3::AXIS_X); + Vector3 axis_x = p_transform.get_basis().get_column(Vector3::AXIS_X); array.write[0] = axis_x.x; array.write[1] = axis_x.y; array.write[2] = axis_x.z; array.write[3] = 0.0f; - Vector3 axis_y = p_transform.get_basis().get_axis(Vector3::AXIS_Y); + Vector3 axis_y = p_transform.get_basis().get_column(Vector3::AXIS_Y); array.write[4] = axis_y.x; array.write[5] = axis_y.y; array.write[6] = axis_y.z; array.write[7] = 0.0f; - Vector3 axis_z = p_transform.get_basis().get_axis(Vector3::AXIS_Z); + Vector3 axis_z = p_transform.get_basis().get_column(Vector3::AXIS_Z); array.write[8] = axis_z.x; array.write[9] = axis_z.y; array.write[10] = axis_z.z; @@ -1960,20 +1960,20 @@ GLTFAccessorIndex GLTFDocument::_encode_accessor_as_xform(Ref state, for (int i = 0; i < p_attribs.size(); i++) { Transform3D attrib = p_attribs[i]; Basis basis = attrib.get_basis(); - Vector3 axis_0 = basis.get_axis(Vector3::AXIS_X); + Vector3 axis_0 = basis.get_column(Vector3::AXIS_X); attribs.write[i * element_count + 0] = Math::snapped(axis_0.x, CMP_NORMALIZE_TOLERANCE); attribs.write[i * element_count + 1] = Math::snapped(axis_0.y, CMP_NORMALIZE_TOLERANCE); attribs.write[i * element_count + 2] = Math::snapped(axis_0.z, CMP_NORMALIZE_TOLERANCE); attribs.write[i * element_count + 3] = 0.0; - Vector3 axis_1 = basis.get_axis(Vector3::AXIS_Y); + Vector3 axis_1 = basis.get_column(Vector3::AXIS_Y); attribs.write[i * element_count + 4] = Math::snapped(axis_1.x, CMP_NORMALIZE_TOLERANCE); attribs.write[i * element_count + 5] = Math::snapped(axis_1.y, CMP_NORMALIZE_TOLERANCE); attribs.write[i * element_count + 6] = Math::snapped(axis_1.z, CMP_NORMALIZE_TOLERANCE); attribs.write[i * element_count + 7] = 0.0; - Vector3 axis_2 = basis.get_axis(Vector3::AXIS_Z); + Vector3 axis_2 = basis.get_column(Vector3::AXIS_Z); attribs.write[i * element_count + 8] = Math::snapped(axis_2.x, CMP_NORMALIZE_TOLERANCE); attribs.write[i * element_count + 9] = Math::snapped(axis_2.y, CMP_NORMALIZE_TOLERANCE); attribs.write[i * element_count + 10] = Math::snapped(axis_2.z, CMP_NORMALIZE_TOLERANCE); @@ -2105,9 +2105,9 @@ Vector GLTFDocument::_decode_accessor_as_basis(Ref state, cons ERR_FAIL_COND_V(attribs.size() % 9 != 0, ret); ret.resize(attribs.size() / 9); for (int i = 0; i < ret.size(); i++) { - ret.write[i].set_axis(0, Vector3(attribs[i * 9 + 0], attribs[i * 9 + 1], attribs[i * 9 + 2])); - ret.write[i].set_axis(1, Vector3(attribs[i * 9 + 3], attribs[i * 9 + 4], attribs[i * 9 + 5])); - ret.write[i].set_axis(2, Vector3(attribs[i * 9 + 6], attribs[i * 9 + 7], attribs[i * 9 + 8])); + ret.write[i].set_column(0, Vector3(attribs[i * 9 + 0], attribs[i * 9 + 1], attribs[i * 9 + 2])); + ret.write[i].set_column(1, Vector3(attribs[i * 9 + 3], attribs[i * 9 + 4], attribs[i * 9 + 5])); + ret.write[i].set_column(2, Vector3(attribs[i * 9 + 6], attribs[i * 9 + 7], attribs[i * 9 + 8])); } return ret; } @@ -2123,9 +2123,9 @@ Vector GLTFDocument::_decode_accessor_as_xform(Ref state ERR_FAIL_COND_V(attribs.size() % 16 != 0, ret); ret.resize(attribs.size() / 16); for (int i = 0; i < ret.size(); i++) { - ret.write[i].basis.set_axis(0, Vector3(attribs[i * 16 + 0], attribs[i * 16 + 1], attribs[i * 16 + 2])); - ret.write[i].basis.set_axis(1, Vector3(attribs[i * 16 + 4], attribs[i * 16 + 5], attribs[i * 16 + 6])); - ret.write[i].basis.set_axis(2, Vector3(attribs[i * 16 + 8], attribs[i * 16 + 9], attribs[i * 16 + 10])); + ret.write[i].basis.set_column(0, Vector3(attribs[i * 16 + 0], attribs[i * 16 + 1], attribs[i * 16 + 2])); + ret.write[i].basis.set_column(1, Vector3(attribs[i * 16 + 4], attribs[i * 16 + 5], attribs[i * 16 + 6])); + ret.write[i].basis.set_column(2, Vector3(attribs[i * 16 + 8], attribs[i * 16 + 9], attribs[i * 16 + 10])); ret.write[i].set_origin(Vector3(attribs[i * 16 + 12], attribs[i * 16 + 13], attribs[i * 16 + 14])); } return ret; diff --git a/modules/mobile_vr/mobile_vr_interface.cpp b/modules/mobile_vr/mobile_vr_interface.cpp index f5aef56724b..5876b6cbf37 100644 --- a/modules/mobile_vr/mobile_vr_interface.cpp +++ b/modules/mobile_vr/mobile_vr_interface.cpp @@ -175,9 +175,9 @@ void MobileVRInterface::set_position_from_sensors() { if (has_gyro) { // start with applying our gyro (do NOT smooth our gyro!) Basis rotate; - rotate.rotate(orientation.get_axis(0), gyro.x * delta_time); - rotate.rotate(orientation.get_axis(1), gyro.y * delta_time); - rotate.rotate(orientation.get_axis(2), gyro.z * delta_time); + rotate.rotate(orientation.get_column(0), gyro.x * delta_time); + rotate.rotate(orientation.get_column(1), gyro.y * delta_time); + rotate.rotate(orientation.get_column(2), gyro.z * delta_time); orientation = rotate * orientation; tracking_state = XRInterface::XR_NORMAL_TRACKING; diff --git a/modules/raycast/raycast_occlusion_cull.cpp b/modules/raycast/raycast_occlusion_cull.cpp index 2e0d17fb284..1550f0ef8bf 100644 --- a/modules/raycast/raycast_occlusion_cull.cpp +++ b/modules/raycast/raycast_occlusion_cull.cpp @@ -85,7 +85,7 @@ void RaycastOcclusionCull::RaycastHZBuffer::update_camera_rays(const Transform3D td.z_near = p_cam_projection.get_z_near(); td.z_far = p_cam_projection.get_z_far() * 1.05f; td.camera_pos = p_cam_transform.origin; - td.camera_dir = -p_cam_transform.basis.get_axis(2); + td.camera_dir = -p_cam_transform.basis.get_column(2); td.camera_orthogonal = p_cam_orthogonal; CameraMatrix inv_camera_matrix = p_cam_projection.inverse(); @@ -548,7 +548,7 @@ void RaycastOcclusionCull::buffer_update(RID p_buffer, const Transform3D &p_cam_ buffer.update_camera_rays(p_cam_transform, p_cam_projection, p_cam_orthogonal, p_thread_pool); scenario.raycast(buffer.camera_rays, buffer.camera_ray_masks.ptr(), buffer.camera_rays_tile_count, p_thread_pool); - buffer.sort_rays(-p_cam_transform.basis.get_axis(2), p_cam_orthogonal); + buffer.sort_rays(-p_cam_transform.basis.get_column(2), p_cam_orthogonal); buffer.update_mips(); } diff --git a/scene/2d/cpu_particles_2d.cpp b/scene/2d/cpu_particles_2d.cpp index 888ad374d83..f5c14b68457 100644 --- a/scene/2d/cpu_particles_2d.cpp +++ b/scene/2d/cpu_particles_2d.cpp @@ -788,8 +788,8 @@ void CPUParticles2D::_particles_process(double p_delta) { if (emission_shape == EMISSION_SHAPE_DIRECTED_POINTS && emission_normals.size() == pc) { Vector2 normal = emission_normals.get(random_idx); Transform2D m2; - m2.set_axis(0, normal); - m2.set_axis(1, normal.orthogonal()); + m2.columns[0] = normal; + m2.columns[1] = normal.orthogonal(); p.velocity = m2.basis_xform(p.velocity); } diff --git a/scene/2d/gpu_particles_2d.cpp b/scene/2d/gpu_particles_2d.cpp index 35f1ae54214..d509d931727 100644 --- a/scene/2d/gpu_particles_2d.cpp +++ b/scene/2d/gpu_particles_2d.cpp @@ -114,8 +114,8 @@ void GPUParticles2D::set_use_local_coordinates(bool p_enable) { void GPUParticles2D::_update_particle_emission_transform() { Transform2D xf2d = get_global_transform(); Transform3D xf; - xf.basis.set_axis(0, Vector3(xf2d.get_axis(0).x, xf2d.get_axis(0).y, 0)); - xf.basis.set_axis(1, Vector3(xf2d.get_axis(1).x, xf2d.get_axis(1).y, 0)); + xf.basis.set_column(0, Vector3(xf2d.columns[0].x, xf2d.columns[0].y, 0)); + xf.basis.set_column(1, Vector3(xf2d.columns[1].x, xf2d.columns[1].y, 0)); xf.set_origin(Vector3(xf2d.get_origin().x, xf2d.get_origin().y, 0)); RS::get_singleton()->particles_set_emission_transform(particles, xf); @@ -346,8 +346,8 @@ void GPUParticles2D::_validate_property(PropertyInfo &property) const { void GPUParticles2D::emit_particle(const Transform2D &p_transform2d, const Vector2 &p_velocity2d, const Color &p_color, const Color &p_custom, uint32_t p_emit_flags) { Transform3D transform; - transform.basis.set_axis(0, Vector3(p_transform2d.get_axis(0).x, p_transform2d.get_axis(0).y, 0)); - transform.basis.set_axis(1, Vector3(p_transform2d.get_axis(1).x, p_transform2d.get_axis(1).y, 0)); + transform.basis.set_column(0, Vector3(p_transform2d.columns[0].x, p_transform2d.columns[0].y, 0)); + transform.basis.set_column(1, Vector3(p_transform2d.columns[1].x, p_transform2d.columns[1].y, 0)); transform.set_origin(Vector3(p_transform2d.get_origin().x, p_transform2d.get_origin().y, 0)); Vector3 velocity = Vector3(p_velocity2d.x, p_velocity2d.y, 0); diff --git a/scene/3d/area_3d.cpp b/scene/3d/area_3d.cpp index 78c968a3d49..fb37e64a1ae 100644 --- a/scene/3d/area_3d.cpp +++ b/scene/3d/area_3d.cpp @@ -175,7 +175,7 @@ void Area3D::_initialize_wind() { Node3D *p_wind_source = Object::cast_to(get_node(wind_source_path)); ERR_FAIL_NULL(p_wind_source); Transform3D global_transform = p_wind_source->get_transform(); - wind_direction = -global_transform.basis.get_axis(Vector3::AXIS_Z).normalized(); + wind_direction = -global_transform.basis.get_column(Vector3::AXIS_Z).normalized(); wind_source = global_transform.origin; temp_magnitude = wind_force_magnitude; } diff --git a/scene/3d/audio_stream_player_3d.cpp b/scene/3d/audio_stream_player_3d.cpp index b17201f86b7..f057c72012c 100644 --- a/scene/3d/audio_stream_player_3d.cpp +++ b/scene/3d/audio_stream_player_3d.cpp @@ -447,7 +447,7 @@ Vector AudioStreamPlayer3D::_update_panning() { if (emission_angle_enabled) { Vector3 listenertopos = global_pos - listener_node->get_global_transform().origin; - float c = listenertopos.normalized().dot(get_global_transform().basis.get_axis(2).normalized()); //it's z negative + float c = listenertopos.normalized().dot(get_global_transform().basis.get_column(2).normalized()); //it's z negative float angle = Math::rad2deg(Math::acos(c)); if (angle > emission_angle) { db_att -= -emission_angle_filter_attenuation_db; diff --git a/scene/3d/camera_3d.cpp b/scene/3d/camera_3d.cpp index 908af10ad1f..4f05e803772 100644 --- a/scene/3d/camera_3d.cpp +++ b/scene/3d/camera_3d.cpp @@ -144,8 +144,8 @@ void Camera3D::_notification(int p_what) { Transform3D Camera3D::get_camera_transform() const { Transform3D tr = get_global_transform().orthonormalized(); - tr.origin += tr.basis.get_axis(1) * v_offset; - tr.origin += tr.basis.get_axis(0) * h_offset; + tr.origin += tr.basis.get_column(1) * v_offset; + tr.origin += tr.basis.get_column(0) * h_offset; return tr; } @@ -307,7 +307,7 @@ Vector3 Camera3D::project_ray_origin(const Point2 &p_pos) const { bool Camera3D::is_position_behind(const Vector3 &p_pos) const { Transform3D t = get_global_transform(); - Vector3 eyedir = -t.basis.get_axis(2).normalized(); + Vector3 eyedir = -t.basis.get_column(2).normalized(); return eyedir.dot(p_pos - t.origin) < near; } diff --git a/scene/3d/cpu_particles_3d.cpp b/scene/3d/cpu_particles_3d.cpp index d244fd1a1b0..9666994b95a 100644 --- a/scene/3d/cpu_particles_3d.cpp +++ b/scene/3d/cpu_particles_3d.cpp @@ -833,8 +833,8 @@ void CPUParticles3D::_particles_process(double p_delta) { Vector3 normal = emission_normals.get(random_idx); Vector2 normal_2d(normal.x, normal.y); Transform2D m2; - m2.set_axis(0, normal_2d); - m2.set_axis(1, normal_2d.orthogonal()); + m2.columns[0] = normal_2d; + m2.columns[1] = normal_2d.orthogonal(); Vector2 velocity_2d(p.velocity.x, p.velocity.y); velocity_2d = m2.basis_xform(velocity_2d); p.velocity.x = velocity_2d.x; @@ -845,9 +845,9 @@ void CPUParticles3D::_particles_process(double p_delta) { Vector3 tangent = v0.cross(normal).normalized(); Vector3 bitangent = tangent.cross(normal).normalized(); Basis m3; - m3.set_axis(0, tangent); - m3.set_axis(1, bitangent); - m3.set_axis(2, normal); + m3.set_column(0, tangent); + m3.set_column(1, bitangent); + m3.set_column(2, normal); p.velocity = m3.xform(p.velocity); } } @@ -1068,33 +1068,33 @@ void CPUParticles3D::_particles_process(double p_delta) { if (particle_flags[PARTICLE_FLAG_DISABLE_Z]) { if (particle_flags[PARTICLE_FLAG_ALIGN_Y_TO_VELOCITY]) { if (p.velocity.length() > 0.0) { - p.transform.basis.set_axis(1, p.velocity.normalized()); + p.transform.basis.set_column(1, p.velocity.normalized()); } else { - p.transform.basis.set_axis(1, p.transform.basis.get_axis(1)); + p.transform.basis.set_column(1, p.transform.basis.get_column(1)); } - p.transform.basis.set_axis(0, p.transform.basis.get_axis(1).cross(p.transform.basis.get_axis(2)).normalized()); - p.transform.basis.set_axis(2, Vector3(0, 0, 1)); + p.transform.basis.set_column(0, p.transform.basis.get_column(1).cross(p.transform.basis.get_column(2)).normalized()); + p.transform.basis.set_column(2, Vector3(0, 0, 1)); } else { - p.transform.basis.set_axis(0, Vector3(Math::cos(p.custom[0]), -Math::sin(p.custom[0]), 0.0)); - p.transform.basis.set_axis(1, Vector3(Math::sin(p.custom[0]), Math::cos(p.custom[0]), 0.0)); - p.transform.basis.set_axis(2, Vector3(0, 0, 1)); + p.transform.basis.set_column(0, Vector3(Math::cos(p.custom[0]), -Math::sin(p.custom[0]), 0.0)); + p.transform.basis.set_column(1, Vector3(Math::sin(p.custom[0]), Math::cos(p.custom[0]), 0.0)); + p.transform.basis.set_column(2, Vector3(0, 0, 1)); } } else { //orient particle Y towards velocity if (particle_flags[PARTICLE_FLAG_ALIGN_Y_TO_VELOCITY]) { if (p.velocity.length() > 0.0) { - p.transform.basis.set_axis(1, p.velocity.normalized()); + p.transform.basis.set_column(1, p.velocity.normalized()); } else { - p.transform.basis.set_axis(1, p.transform.basis.get_axis(1).normalized()); + p.transform.basis.set_column(1, p.transform.basis.get_column(1).normalized()); } - if (p.transform.basis.get_axis(1) == p.transform.basis.get_axis(0)) { - p.transform.basis.set_axis(0, p.transform.basis.get_axis(1).cross(p.transform.basis.get_axis(2)).normalized()); - p.transform.basis.set_axis(2, p.transform.basis.get_axis(0).cross(p.transform.basis.get_axis(1)).normalized()); + if (p.transform.basis.get_column(1) == p.transform.basis.get_column(0)) { + p.transform.basis.set_column(0, p.transform.basis.get_column(1).cross(p.transform.basis.get_column(2)).normalized()); + p.transform.basis.set_column(2, p.transform.basis.get_column(0).cross(p.transform.basis.get_column(1)).normalized()); } else { - p.transform.basis.set_axis(2, p.transform.basis.get_axis(0).cross(p.transform.basis.get_axis(1)).normalized()); - p.transform.basis.set_axis(0, p.transform.basis.get_axis(1).cross(p.transform.basis.get_axis(2)).normalized()); + p.transform.basis.set_column(2, p.transform.basis.get_column(0).cross(p.transform.basis.get_column(1)).normalized()); + p.transform.basis.set_column(0, p.transform.basis.get_column(1).cross(p.transform.basis.get_column(2)).normalized()); } } else { p.transform.basis.orthonormalize(); @@ -1159,7 +1159,7 @@ void CPUParticles3D::_update_particle_data_buffer() { ERR_FAIL_NULL(get_viewport()); Camera3D *c = get_viewport()->get_camera_3d(); if (c) { - Vector3 dir = c->get_global_transform().basis.get_axis(2); //far away to close + Vector3 dir = c->get_global_transform().basis.get_column(2); //far away to close if (local_coords) { // will look different from Particles in editor as this is based on the camera in the scenetree diff --git a/scene/3d/gpu_particles_collision_3d.cpp b/scene/3d/gpu_particles_collision_3d.cpp index 6f94df284a5..bedf0edf38e 100644 --- a/scene/3d/gpu_particles_collision_3d.cpp +++ b/scene/3d/gpu_particles_collision_3d.cpp @@ -594,8 +594,8 @@ void GPUParticlesCollisionHeightField3D::_notification(int p_what) { Camera3D *cam = get_viewport()->get_camera_3d(); if (cam) { Transform3D xform = get_global_transform(); - Vector3 x_axis = xform.basis.get_axis(Vector3::AXIS_X).normalized(); - Vector3 z_axis = xform.basis.get_axis(Vector3::AXIS_Z).normalized(); + Vector3 x_axis = xform.basis.get_column(Vector3::AXIS_X).normalized(); + Vector3 z_axis = xform.basis.get_column(Vector3::AXIS_Z).normalized(); float x_len = xform.basis.get_scale().x; float z_len = xform.basis.get_scale().z; diff --git a/scene/3d/lightmap_gi.cpp b/scene/3d/lightmap_gi.cpp index 8b457b683d2..88d2c1ad695 100644 --- a/scene/3d/lightmap_gi.cpp +++ b/scene/3d/lightmap_gi.cpp @@ -887,13 +887,13 @@ LightmapGI::BakeError LightmapGI::bake(Node *p_from_node, String p_image_data_pa Color linear_color = light->get_color().srgb_to_linear(); if (Object::cast_to(light)) { DirectionalLight3D *l = Object::cast_to(light); - lightmapper->add_directional_light(light->get_bake_mode() == Light3D::BAKE_STATIC, -xf.basis.get_axis(Vector3::AXIS_Z).normalized(), linear_color, l->get_param(Light3D::PARAM_ENERGY), l->get_param(Light3D::PARAM_SIZE)); + lightmapper->add_directional_light(light->get_bake_mode() == Light3D::BAKE_STATIC, -xf.basis.get_column(Vector3::AXIS_Z).normalized(), linear_color, l->get_param(Light3D::PARAM_ENERGY), l->get_param(Light3D::PARAM_SIZE)); } else if (Object::cast_to(light)) { OmniLight3D *l = Object::cast_to(light); lightmapper->add_omni_light(light->get_bake_mode() == Light3D::BAKE_STATIC, xf.origin, linear_color, l->get_param(Light3D::PARAM_ENERGY), l->get_param(Light3D::PARAM_RANGE), l->get_param(Light3D::PARAM_ATTENUATION), l->get_param(Light3D::PARAM_SIZE)); } else if (Object::cast_to(light)) { SpotLight3D *l = Object::cast_to(light); - lightmapper->add_spot_light(light->get_bake_mode() == Light3D::BAKE_STATIC, xf.origin, -xf.basis.get_axis(Vector3::AXIS_Z).normalized(), linear_color, l->get_param(Light3D::PARAM_ENERGY), l->get_param(Light3D::PARAM_RANGE), l->get_param(Light3D::PARAM_ATTENUATION), l->get_param(Light3D::PARAM_SPOT_ANGLE), l->get_param(Light3D::PARAM_SPOT_ATTENUATION), l->get_param(Light3D::PARAM_SIZE)); + lightmapper->add_spot_light(light->get_bake_mode() == Light3D::BAKE_STATIC, xf.origin, -xf.basis.get_column(Vector3::AXIS_Z).normalized(), linear_color, l->get_param(Light3D::PARAM_ENERGY), l->get_param(Light3D::PARAM_RANGE), l->get_param(Light3D::PARAM_ATTENUATION), l->get_param(Light3D::PARAM_SPOT_ANGLE), l->get_param(Light3D::PARAM_SPOT_ATTENUATION), l->get_param(Light3D::PARAM_SIZE)); } } for (int i = 0; i < probes_found.size(); i++) { diff --git a/scene/3d/path_3d.cpp b/scene/3d/path_3d.cpp index 49811250571..17a68f38f58 100644 --- a/scene/3d/path_3d.cpp +++ b/scene/3d/path_3d.cpp @@ -146,7 +146,7 @@ void PathFollow3D::_update_transform(bool p_update_xyz_rot) { Vector3 sideways = up.cross(forward).normalized(); up = forward.cross(sideways).normalized(); - t.basis.set(sideways, up, forward); + t.basis.set_columns(sideways, up, forward); t.basis.scale_local(scale); t.origin = pos + sideways * h_offset + up * v_offset; diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp index 989b2cbec6a..5f9bca7c49b 100644 --- a/scene/3d/physics_body_3d.cpp +++ b/scene/3d/physics_body_3d.cpp @@ -991,7 +991,7 @@ TypedArray RigidDynamicBody3D::get_configuration_warnings() const { TypedArray warnings = Node::get_configuration_warnings(); - if (ABS(t.basis.get_axis(0).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(1).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(2).length() - 1.0) > 0.05) { + if (ABS(t.basis.get_column(0).length() - 1.0) > 0.05 || ABS(t.basis.get_column(1).length() - 1.0) > 0.05 || ABS(t.basis.get_column(2).length() - 1.0) > 0.05) { warnings.push_back(RTR("Size changes to RigidDynamicBody will be overridden by the physics engine when running.\nChange the size in children collision shapes instead.")); } diff --git a/scene/3d/soft_dynamic_body_3d.cpp b/scene/3d/soft_dynamic_body_3d.cpp index 6724754214e..7d786a41bf1 100644 --- a/scene/3d/soft_dynamic_body_3d.cpp +++ b/scene/3d/soft_dynamic_body_3d.cpp @@ -382,7 +382,7 @@ TypedArray SoftDynamicBody3D::get_configuration_warnings() const { } Transform3D t = get_transform(); - if ((ABS(t.basis.get_axis(0).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(1).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(2).length() - 1.0) > 0.05)) { + if ((ABS(t.basis.get_column(0).length() - 1.0) > 0.05 || ABS(t.basis.get_column(1).length() - 1.0) > 0.05 || ABS(t.basis.get_column(2).length() - 1.0) > 0.05)) { warnings.push_back(RTR("Size changes to SoftDynamicBody3D will be overridden by the physics engine when running.\nChange the size in children collision shapes instead.")); } diff --git a/scene/3d/vehicle_body_3d.cpp b/scene/3d/vehicle_body_3d.cpp index 675cd1b172c..19c90cdeb5f 100644 --- a/scene/3d/vehicle_body_3d.cpp +++ b/scene/3d/vehicle_body_3d.cpp @@ -90,8 +90,8 @@ void VehicleWheel3D::_notification(int p_what) { cb->wheels.push_back(this); m_chassisConnectionPointCS = get_transform().origin; - m_wheelDirectionCS = -get_transform().basis.get_axis(Vector3::AXIS_Y).normalized(); - m_wheelAxleCS = get_transform().basis.get_axis(Vector3::AXIS_X).normalized(); + m_wheelDirectionCS = -get_transform().basis.get_column(Vector3::AXIS_Y).normalized(); + m_wheelAxleCS = get_transform().basis.get_column(Vector3::AXIS_X).normalized(); } break; case NOTIFICATION_EXIT_TREE: { @@ -684,7 +684,7 @@ void VehicleBody3D::_update_friction(PhysicsDirectBodyState3D *s) { Basis wheelBasis0 = wheelInfo.m_worldTransform.basis; //get_global_transform().basis; - m_axle.write[i] = wheelBasis0.get_axis(Vector3::AXIS_X); + m_axle.write[i] = wheelBasis0.get_column(Vector3::AXIS_X); //m_axle[i] = wheelInfo.m_raycastInfo.m_wheelAxleWS; const Vector3 &surfNormalWS = wheelInfo.m_raycastInfo.m_contactNormalWS; diff --git a/scene/3d/xr_nodes.cpp b/scene/3d/xr_nodes.cpp index 3085d84643c..1dad6078b43 100644 --- a/scene/3d/xr_nodes.cpp +++ b/scene/3d/xr_nodes.cpp @@ -577,7 +577,7 @@ Plane XRAnchor3D::get_plane() const { Vector3 location = get_position(); Basis orientation = get_transform().basis; - Plane plane(orientation.get_axis(1).normalized(), location); + Plane plane(orientation.get_column(1).normalized(), location); return plane; } diff --git a/scene/resources/importer_mesh.cpp b/scene/resources/importer_mesh.cpp index 60a92001768..cca875f7088 100644 --- a/scene/resources/importer_mesh.cpp +++ b/scene/resources/importer_mesh.cpp @@ -1023,7 +1023,7 @@ Error ImporterMesh::lightmap_unwrap_cached(const Transform3D &p_base_transform, // Keep only the scale Basis basis = p_base_transform.get_basis(); - Vector3 scale = Vector3(basis.get_axis(0).length(), basis.get_axis(1).length(), basis.get_axis(2).length()); + Vector3 scale = Vector3(basis.get_column(0).length(), basis.get_column(1).length(), basis.get_column(2).length()); Transform3D transform; transform.scale(scale); diff --git a/scene/resources/mesh.cpp b/scene/resources/mesh.cpp index 3c67a20f50a..3c6bcb76d53 100644 --- a/scene/resources/mesh.cpp +++ b/scene/resources/mesh.cpp @@ -1827,7 +1827,7 @@ Error ArrayMesh::lightmap_unwrap_cached(const Transform3D &p_base_transform, flo // Keep only the scale Basis basis = p_base_transform.get_basis(); - Vector3 scale = Vector3(basis.get_axis(0).length(), basis.get_axis(1).length(), basis.get_axis(2).length()); + Vector3 scale = Vector3(basis.get_column(0).length(), basis.get_column(1).length(), basis.get_column(2).length()); Transform3D transform; transform.scale(scale); diff --git a/scene/resources/visual_shader_nodes.cpp b/scene/resources/visual_shader_nodes.cpp index 1368bf03828..99d5d5c5d53 100644 --- a/scene/resources/visual_shader_nodes.cpp +++ b/scene/resources/visual_shader_nodes.cpp @@ -5548,9 +5548,9 @@ Transform3D VisualShaderNodeTransformUniform::get_default_value() const { String VisualShaderNodeTransformUniform::generate_global(Shader::Mode p_mode, VisualShader::Type p_type, int p_id) const { String code = _get_qual_str() + "uniform mat4 " + get_uniform_name(); if (default_value_enabled) { - Vector3 row0 = default_value.basis.get_row(0); - Vector3 row1 = default_value.basis.get_row(1); - Vector3 row2 = default_value.basis.get_row(2); + Vector3 row0 = default_value.basis.rows[0]; + Vector3 row1 = default_value.basis.rows[1]; + Vector3 row2 = default_value.basis.rows[2]; Vector3 origin = default_value.origin; code += " = mat4(" + vformat("vec4(%.6f, %.6f, %.6f, 0.0)", row0.x, row0.y, row0.z) + vformat(", vec4(%.6f, %.6f, %.6f, 0.0)", row1.x, row1.y, row1.z) + vformat(", vec4(%.6f, %.6f, %.6f, 0.0)", row2.x, row2.y, row2.z) + vformat(", vec4(%.6f, %.6f, %.6f, 1.0)", origin.x, origin.y, origin.z) + ")"; } diff --git a/servers/physics_2d/godot_body_pair_2d.cpp b/servers/physics_2d/godot_body_pair_2d.cpp index be3e832b88b..2f2af15da76 100644 --- a/servers/physics_2d/godot_body_pair_2d.cpp +++ b/servers/physics_2d/godot_body_pair_2d.cpp @@ -203,7 +203,7 @@ bool GodotBodyPair2D::_test_ccd(real_t p_step, GodotBody2D *p_A, int p_shape_A, // Check one-way collision based on motion direction. if (p_A->get_shape(p_shape_A)->allows_one_way_collision() && p_B->is_shape_set_as_one_way_collision(p_shape_B)) { - Vector2 direction = p_xform_B.get_axis(1).normalized(); + Vector2 direction = p_xform_B.columns[1].normalized(); if (direction.dot(mnormal) < CMP_EPSILON) { collided = false; oneway_disabled = true; @@ -300,7 +300,7 @@ bool GodotBodyPair2D::setup(real_t p_step) { if (!prev_collided) { if (shape_B_ptr->allows_one_way_collision() && A->is_shape_set_as_one_way_collision(shape_A)) { - Vector2 direction = xform_A.get_axis(1).normalized(); + Vector2 direction = xform_A.columns[1].normalized(); bool valid = false; for (int i = 0; i < contact_count; i++) { Contact &c = contacts[i]; @@ -318,7 +318,7 @@ bool GodotBodyPair2D::setup(real_t p_step) { } if (shape_A_ptr->allows_one_way_collision() && B->is_shape_set_as_one_way_collision(shape_B)) { - Vector2 direction = xform_B.get_axis(1).normalized(); + Vector2 direction = xform_B.columns[1].normalized(); bool valid = false; for (int i = 0; i < contact_count; i++) { Contact &c = contacts[i]; diff --git a/servers/physics_2d/godot_space_2d.cpp b/servers/physics_2d/godot_space_2d.cpp index 8b75d8cde41..3ff7ab86bb8 100644 --- a/servers/physics_2d/godot_space_2d.cpp +++ b/servers/physics_2d/godot_space_2d.cpp @@ -633,7 +633,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D:: Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); if (body_shape->allows_one_way_collision() && col_obj->is_shape_set_as_one_way_collision(shape_idx)) { - cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized(); + cbk.valid_dir = col_obj_shape_xform.columns[1].normalized(); real_t owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx); cbk.valid_depth = MAX(owc_margin, margin); //user specified, but never less than actual margin or it won't work @@ -788,7 +788,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D:: //test initial overlap if (GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) { if (body_shape->allows_one_way_collision() && col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) { - Vector2 direction = col_obj_shape_xform.get_axis(1).normalized(); + Vector2 direction = col_obj_shape_xform.columns[1].normalized(); if (motion_normal.dot(direction) < 0) { continue; } @@ -838,7 +838,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D:: cbk.amount = 0; cbk.passed = 0; cbk.ptr = cd; - cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized(); + cbk.valid_dir = col_obj_shape_xform.columns[1].normalized(); cbk.valid_depth = 10e20; @@ -929,7 +929,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D:: Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); if (body_shape->allows_one_way_collision() && col_obj->is_shape_set_as_one_way_collision(shape_idx)) { - rcd.valid_dir = col_obj_shape_xform.get_axis(1).normalized(); + rcd.valid_dir = col_obj_shape_xform.columns[1].normalized(); real_t owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx); rcd.valid_depth = MAX(owc_margin, margin); //user specified, but never less than actual margin or it won't work diff --git a/servers/physics_3d/godot_collision_solver_3d.cpp b/servers/physics_3d/godot_collision_solver_3d.cpp index afc74df1669..b2d3e4d876e 100644 --- a/servers/physics_3d/godot_collision_solver_3d.cpp +++ b/servers/physics_3d/godot_collision_solver_3d.cpp @@ -94,7 +94,7 @@ bool GodotCollisionSolver3D::solve_separation_ray(const GodotShape3D *p_shape_A, const GodotSeparationRayShape3D *ray = static_cast(p_shape_A); Vector3 from = p_transform_A.origin; - Vector3 to = from + p_transform_A.basis.get_axis(2) * (ray->get_length() + p_margin); + Vector3 to = from + p_transform_A.basis.get_column(2) * (ray->get_length() + p_margin); Vector3 support_A = to; Transform3D ai = p_transform_B.affine_inverse(); @@ -252,7 +252,7 @@ bool GodotCollisionSolver3D::solve_soft_body(const GodotShape3D *p_shape_A, cons // Calculate AABB for internal concave shape query (in local space). AABB local_aabb; for (int i = 0; i < 3; i++) { - Vector3 axis(p_transform_A.basis.get_axis(i)); + Vector3 axis(p_transform_A.basis.get_column(i)); real_t axis_scale = 1.0 / axis.length(); real_t smin = soft_body_aabb.position[i]; @@ -333,7 +333,7 @@ bool GodotCollisionSolver3D::solve_concave(const GodotShape3D *p_shape_A, const AABB local_aabb; for (int i = 0; i < 3; i++) { - Vector3 axis(p_transform_B.basis.get_axis(i)); + Vector3 axis(p_transform_B.basis.get_column(i)); real_t axis_scale = 1.0 / axis.length(); axis *= axis_scale; @@ -542,7 +542,7 @@ bool GodotCollisionSolver3D::solve_distance(const GodotShape3D *p_shape_A, const AABB local_aabb; for (int i = 0; i < 3; i++) { - Vector3 axis(p_transform_B.basis.get_axis(i)); + Vector3 axis(p_transform_B.basis.get_column(i)); real_t axis_scale = ((real_t)1.0) / axis.length(); axis *= axis_scale; diff --git a/servers/physics_3d/godot_collision_solver_3d_sat.cpp b/servers/physics_3d/godot_collision_solver_3d_sat.cpp index 7b7a09f31d5..20e93007783 100644 --- a/servers/physics_3d/godot_collision_solver_3d_sat.cpp +++ b/servers/physics_3d/godot_collision_solver_3d_sat.cpp @@ -792,7 +792,7 @@ static void _collision_sphere_box(const GodotShape3D *p_a, const Transform3D &p_ // test faces for (int i = 0; i < 3; i++) { - Vector3 axis = p_transform_b.basis.get_axis(i).normalized(); + Vector3 axis = p_transform_b.basis.get_column(i).normalized(); if (!separator.test_axis(axis)) { return; @@ -819,7 +819,7 @@ static void _collision_sphere_box(const GodotShape3D *p_a, const Transform3D &p_ // test edges for (int i = 0; i < 3; i++) { - Vector3 axis = point_axis.cross(p_transform_b.basis.get_axis(i)).cross(p_transform_b.basis.get_axis(i)).normalized(); + Vector3 axis = point_axis.cross(p_transform_b.basis.get_column(i)).cross(p_transform_b.basis.get_column(i)).normalized(); if (!separator.test_axis(axis)) { return; @@ -842,7 +842,7 @@ static void _collision_sphere_capsule(const GodotShape3D *p_a, const Transform3D //capsule sphere 1, sphere - Vector3 capsule_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius()); + Vector3 capsule_axis = p_transform_b.basis.get_column(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius()); Vector3 capsule_ball_1 = p_transform_b.origin + capsule_axis; @@ -883,7 +883,7 @@ static void _collision_sphere_cylinder(const GodotShape3D *p_a, const Transform3 } // Cylinder B end caps. - Vector3 cylinder_B_axis = p_transform_b.basis.get_axis(1).normalized(); + Vector3 cylinder_B_axis = p_transform_b.basis.get_column(1).normalized(); if (!separator.test_axis(cylinder_B_axis)) { return; } @@ -897,8 +897,8 @@ static void _collision_sphere_cylinder(const GodotShape3D *p_a, const Transform3 // Closest point to cylinder caps. const Vector3 &sphere_center = p_transform_a.origin; - Vector3 cyl_axis = p_transform_b.basis.get_axis(1); - Vector3 cap_axis = p_transform_b.basis.get_axis(0); + Vector3 cyl_axis = p_transform_b.basis.get_column(1); + Vector3 cap_axis = p_transform_b.basis.get_column(0); real_t height_scale = cyl_axis.length(); real_t cap_dist = cylinder_B->get_height() * 0.5 * height_scale; cyl_axis /= height_scale; @@ -1063,7 +1063,7 @@ static void _collision_box_box(const GodotShape3D *p_a, const Transform3D &p_tra // test faces of A for (int i = 0; i < 3; i++) { - Vector3 axis = p_transform_a.basis.get_axis(i).normalized(); + Vector3 axis = p_transform_a.basis.get_column(i).normalized(); if (!separator.test_axis(axis)) { return; @@ -1073,7 +1073,7 @@ static void _collision_box_box(const GodotShape3D *p_a, const Transform3D &p_tra // test faces of B for (int i = 0; i < 3; i++) { - Vector3 axis = p_transform_b.basis.get_axis(i).normalized(); + Vector3 axis = p_transform_b.basis.get_column(i).normalized(); if (!separator.test_axis(axis)) { return; @@ -1083,7 +1083,7 @@ static void _collision_box_box(const GodotShape3D *p_a, const Transform3D &p_tra // test combined edges for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { - Vector3 axis = p_transform_a.basis.get_axis(i).cross(p_transform_b.basis.get_axis(j)); + Vector3 axis = p_transform_a.basis.get_column(i).cross(p_transform_b.basis.get_column(j)); if (Math::is_zero_approx(axis.length_squared())) { continue; @@ -1129,14 +1129,14 @@ static void _collision_box_box(const GodotShape3D *p_a, const Transform3D &p_tra for (int i = 0; i < 3; i++) { //a ->b - Vector3 axis_a = p_transform_a.basis.get_axis(i); + Vector3 axis_a = p_transform_a.basis.get_column(i); if (!separator.test_axis(axis_ab.cross(axis_a).cross(axis_a).normalized())) { return; } //b ->a - Vector3 axis_b = p_transform_b.basis.get_axis(i); + Vector3 axis_b = p_transform_b.basis.get_column(i); if (!separator.test_axis(axis_ab.cross(axis_b).cross(axis_b).normalized())) { return; @@ -1160,20 +1160,20 @@ static void _collision_box_capsule(const GodotShape3D *p_a, const Transform3D &p // faces of A for (int i = 0; i < 3; i++) { - Vector3 axis = p_transform_a.basis.get_axis(i).normalized(); + Vector3 axis = p_transform_a.basis.get_column(i).normalized(); if (!separator.test_axis(axis)) { return; } } - Vector3 cyl_axis = p_transform_b.basis.get_axis(1).normalized(); + Vector3 cyl_axis = p_transform_b.basis.get_column(1).normalized(); // edges of A, capsule cylinder for (int i = 0; i < 3; i++) { // cylinder - Vector3 box_axis = p_transform_a.basis.get_axis(i); + Vector3 box_axis = p_transform_a.basis.get_column(i); Vector3 axis = box_axis.cross(cyl_axis); if (Math::is_zero_approx(axis.length_squared())) { continue; @@ -1196,7 +1196,7 @@ static void _collision_box_capsule(const GodotShape3D *p_a, const Transform3D &p he.z *= (k * 2 - 1); Vector3 point = p_transform_a.origin; for (int l = 0; l < 3; l++) { - point += p_transform_a.basis.get_axis(l) * he[l]; + point += p_transform_a.basis.get_column(l) * he[l]; } //Vector3 axis = (point - cyl_axis * cyl_axis.dot(point)).normalized(); @@ -1212,7 +1212,7 @@ static void _collision_box_capsule(const GodotShape3D *p_a, const Transform3D &p // capsule balls, edges of A for (int i = 0; i < 2; i++) { - Vector3 capsule_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius()); + Vector3 capsule_axis = p_transform_b.basis.get_column(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius()); Vector3 sphere_pos = p_transform_b.origin + ((i == 0) ? capsule_axis : -capsule_axis); @@ -1234,7 +1234,7 @@ static void _collision_box_capsule(const GodotShape3D *p_a, const Transform3D &p // test edges of A for (int j = 0; j < 3; j++) { - Vector3 axis = point_axis.cross(p_transform_a.basis.get_axis(j)).cross(p_transform_a.basis.get_axis(j)).normalized(); + Vector3 axis = point_axis.cross(p_transform_a.basis.get_column(j)).cross(p_transform_a.basis.get_column(j)).normalized(); if (!separator.test_axis(axis)) { return; @@ -1258,14 +1258,14 @@ static void _collision_box_cylinder(const GodotShape3D *p_a, const Transform3D & // Faces of A. for (int i = 0; i < 3; i++) { - Vector3 axis = p_transform_a.basis.get_axis(i).normalized(); + Vector3 axis = p_transform_a.basis.get_column(i).normalized(); if (!separator.test_axis(axis)) { return; } } - Vector3 cyl_axis = p_transform_b.basis.get_axis(1).normalized(); + Vector3 cyl_axis = p_transform_b.basis.get_column(1).normalized(); // Cylinder end caps. { @@ -1276,7 +1276,7 @@ static void _collision_box_cylinder(const GodotShape3D *p_a, const Transform3D & // Edges of A, cylinder lateral surface. for (int i = 0; i < 3; i++) { - Vector3 box_axis = p_transform_a.basis.get_axis(i); + Vector3 box_axis = p_transform_a.basis.get_column(i); Vector3 axis = box_axis.cross(cyl_axis); if (Math::is_zero_approx(axis.length_squared())) { continue; @@ -1300,7 +1300,7 @@ static void _collision_box_cylinder(const GodotShape3D *p_a, const Transform3D & Vector3 &point = vertices_A[i * 2 * 2 + j * 2 + k]; point = p_transform_a.origin; for (int l = 0; l < 3; l++) { - point += p_transform_a.basis.get_axis(l) * extent[l]; + point += p_transform_a.basis.get_column(l) * extent[l]; } } } @@ -1380,7 +1380,7 @@ static void _collision_box_convex_polygon(const GodotShape3D *p_a, const Transfo // faces of A for (int i = 0; i < 3; i++) { - Vector3 axis = p_transform_a.basis.get_axis(i).normalized(); + Vector3 axis = p_transform_a.basis.get_column(i).normalized(); if (!separator.test_axis(axis)) { return; @@ -1401,7 +1401,7 @@ static void _collision_box_convex_polygon(const GodotShape3D *p_a, const Transfo // A<->B edges for (int i = 0; i < 3; i++) { - Vector3 e1 = p_transform_a.basis.get_axis(i); + Vector3 e1 = p_transform_a.basis.get_column(i); for (int j = 0; j < edge_count; j++) { Vector3 e2 = p_transform_b.basis.xform(vertices[edges[j].a]) - p_transform_b.basis.xform(vertices[edges[j].b]); @@ -1438,7 +1438,7 @@ static void _collision_box_convex_polygon(const GodotShape3D *p_a, const Transfo for (int i = 0; i < 3; i++) { //a ->b - Vector3 axis_a = p_transform_a.basis.get_axis(i); + Vector3 axis_a = p_transform_a.basis.get_column(i); if (!separator.test_axis(axis_ab.cross(axis_a).cross(axis_a).normalized())) { return; @@ -1456,7 +1456,7 @@ static void _collision_box_convex_polygon(const GodotShape3D *p_a, const Transfo he.z *= (k * 2 - 1); Vector3 point = p_transform_a.origin; for (int l = 0; l < 3; l++) { - point += p_transform_a.basis.get_axis(l) * he[l]; + point += p_transform_a.basis.get_column(l) * he[l]; } for (int e = 0; e < edge_count; e++) { @@ -1497,7 +1497,7 @@ static void _collision_box_face(const GodotShape3D *p_a, const Transform3D &p_tr // faces of A for (int i = 0; i < 3; i++) { - Vector3 axis = p_transform_a.basis.get_axis(i).normalized(); + Vector3 axis = p_transform_a.basis.get_column(i).normalized(); if (axis.dot(normal) < 0.0) { axis *= -1.0; } @@ -1513,7 +1513,7 @@ static void _collision_box_face(const GodotShape3D *p_a, const Transform3D &p_tr Vector3 e = vertex[i] - vertex[(i + 1) % 3]; for (int j = 0; j < 3; j++) { - Vector3 axis = e.cross(p_transform_a.basis.get_axis(j)).normalized(); + Vector3 axis = e.cross(p_transform_a.basis.get_column(j)).normalized(); if (axis.dot(normal) < 0.0) { axis *= -1.0; } @@ -1550,7 +1550,7 @@ static void _collision_box_face(const GodotShape3D *p_a, const Transform3D &p_tr for (int i = 0; i < 3; i++) { //a ->b - Vector3 axis_a = p_transform_a.basis.get_axis(i); + Vector3 axis_a = p_transform_a.basis.get_column(i); Vector3 axis = axis_ab.cross(axis_a).cross(axis_a).normalized(); if (axis.dot(normal) < 0.0) { @@ -1573,7 +1573,7 @@ static void _collision_box_face(const GodotShape3D *p_a, const Transform3D &p_tr he.z *= (k * 2 - 1); Vector3 point = p_transform_a.origin; for (int l = 0; l < 3; l++) { - point += p_transform_a.basis.get_axis(l) * he[l]; + point += p_transform_a.basis.get_column(l) * he[l]; } for (int e = 0; e < 3; e++) { @@ -1623,8 +1623,8 @@ static void _collision_capsule_capsule(const GodotShape3D *p_a, const Transform3 // some values - Vector3 capsule_A_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5 - capsule_A->get_radius()); - Vector3 capsule_B_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius()); + Vector3 capsule_A_axis = p_transform_a.basis.get_column(1) * (capsule_A->get_height() * 0.5 - capsule_A->get_radius()); + Vector3 capsule_B_axis = p_transform_b.basis.get_column(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius()); Vector3 capsule_A_ball_1 = p_transform_a.origin + capsule_A_axis; Vector3 capsule_A_ball_2 = p_transform_a.origin - capsule_A_axis; @@ -1686,14 +1686,14 @@ static void _collision_capsule_cylinder(const GodotShape3D *p_a, const Transform } // Cylinder B end caps. - Vector3 cylinder_B_axis = p_transform_b.basis.get_axis(1).normalized(); + Vector3 cylinder_B_axis = p_transform_b.basis.get_column(1).normalized(); if (!separator.test_axis(cylinder_B_axis)) { return; } // Cylinder edge against capsule balls. - Vector3 capsule_A_axis = p_transform_a.basis.get_axis(1); + Vector3 capsule_A_axis = p_transform_a.basis.get_column(1); Vector3 capsule_A_ball_1 = p_transform_a.origin + capsule_A_axis * (capsule_A->get_height() * 0.5 - capsule_A->get_radius()); Vector3 capsule_A_ball_2 = p_transform_a.origin - capsule_A_axis * (capsule_A->get_height() * 0.5 - capsule_A->get_radius()); @@ -1772,7 +1772,7 @@ static void _collision_capsule_convex_polygon(const GodotShape3D *p_a, const Tra for (int i = 0; i < edge_count; i++) { // cylinder Vector3 edge_axis = p_transform_b.basis.xform(vertices[edges[i].a]) - p_transform_b.basis.xform(vertices[edges[i].b]); - Vector3 axis = edge_axis.cross(p_transform_a.basis.get_axis(1)).normalized(); + Vector3 axis = edge_axis.cross(p_transform_a.basis.get_column(1)).normalized(); if (!separator.test_axis(axis)) { return; @@ -1784,7 +1784,7 @@ static void _collision_capsule_convex_polygon(const GodotShape3D *p_a, const Tra for (int i = 0; i < 2; i++) { // edges of B, capsule cylinder - Vector3 capsule_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5 - capsule_A->get_radius()); + Vector3 capsule_axis = p_transform_a.basis.get_column(1) * (capsule_A->get_height() * 0.5 - capsule_A->get_radius()); Vector3 sphere_pos = p_transform_a.origin + ((i == 0) ? capsule_axis : -capsule_axis); @@ -1824,7 +1824,7 @@ static void _collision_capsule_face(const GodotShape3D *p_a, const Transform3D & // edges of B, capsule cylinder - Vector3 capsule_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5 - capsule_A->get_radius()); + Vector3 capsule_axis = p_transform_a.basis.get_column(1) * (capsule_A->get_height() * 0.5 - capsule_A->get_radius()); for (int i = 0; i < 3; i++) { // edge-cylinder @@ -1895,8 +1895,8 @@ static void _collision_cylinder_cylinder(const GodotShape3D *p_a, const Transfor SeparatorAxisTest separator(cylinder_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b); - Vector3 cylinder_A_axis = p_transform_a.basis.get_axis(1); - Vector3 cylinder_B_axis = p_transform_b.basis.get_axis(1); + Vector3 cylinder_A_axis = p_transform_a.basis.get_column(1); + Vector3 cylinder_B_axis = p_transform_b.basis.get_column(1); if (!separator.test_previous_axis()) { return; @@ -1983,7 +1983,7 @@ static void _collision_cylinder_face(const GodotShape3D *p_a, const Transform3D return; } - Vector3 cyl_axis = p_transform_a.basis.get_axis(1).normalized(); + Vector3 cyl_axis = p_transform_a.basis.get_column(1).normalized(); if (cyl_axis.dot(normal) < 0.0) { cyl_axis *= -1.0; } diff --git a/servers/physics_3d/godot_shape_3d.cpp b/servers/physics_3d/godot_shape_3d.cpp index 63ba28258f6..2efc11a4c07 100644 --- a/servers/physics_3d/godot_shape_3d.cpp +++ b/servers/physics_3d/godot_shape_3d.cpp @@ -662,7 +662,7 @@ GodotCapsuleShape3D::GodotCapsuleShape3D() {} /********** CYLINDER *************/ void GodotCylinderShape3D::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { - Vector3 cylinder_axis = p_transform.basis.get_axis(1).normalized(); + Vector3 cylinder_axis = p_transform.basis.get_column(1).normalized(); real_t axis_dot = cylinder_axis.dot(p_normal); Vector3 local_normal = p_transform.basis.xform_inv(p_normal); diff --git a/servers/physics_3d/joints/godot_cone_twist_joint_3d.cpp b/servers/physics_3d/joints/godot_cone_twist_joint_3d.cpp index dc4858ff9af..28cc064a1ef 100644 --- a/servers/physics_3d/joints/godot_cone_twist_joint_3d.cpp +++ b/servers/physics_3d/joints/godot_cone_twist_joint_3d.cpp @@ -147,8 +147,8 @@ bool GodotConeTwistJoint3D::setup(real_t p_timestep) { Vector3 b1Axis1, b1Axis2, b1Axis3; Vector3 b2Axis1, b2Axis2; - b1Axis1 = A->get_transform().basis.xform(this->m_rbAFrame.basis.get_axis(0)); - b2Axis1 = B->get_transform().basis.xform(this->m_rbBFrame.basis.get_axis(0)); + b1Axis1 = A->get_transform().basis.xform(this->m_rbAFrame.basis.get_column(0)); + b2Axis1 = B->get_transform().basis.xform(this->m_rbBFrame.basis.get_column(0)); real_t swing1 = real_t(0.), swing2 = real_t(0.); @@ -158,7 +158,7 @@ bool GodotConeTwistJoint3D::setup(real_t p_timestep) { // Get Frame into world space if (m_swingSpan1 >= real_t(0.05f)) { - b1Axis2 = A->get_transform().basis.xform(this->m_rbAFrame.basis.get_axis(1)); + b1Axis2 = A->get_transform().basis.xform(this->m_rbAFrame.basis.get_column(1)); //swing1 = btAtan2Fast( b2Axis1.dot(b1Axis2),b2Axis1.dot(b1Axis1) ); swx = b2Axis1.dot(b1Axis1); swy = b2Axis1.dot(b1Axis2); @@ -169,7 +169,7 @@ bool GodotConeTwistJoint3D::setup(real_t p_timestep) { } if (m_swingSpan2 >= real_t(0.05f)) { - b1Axis3 = A->get_transform().basis.xform(this->m_rbAFrame.basis.get_axis(2)); + b1Axis3 = A->get_transform().basis.xform(this->m_rbAFrame.basis.get_column(2)); //swing2 = btAtan2Fast( b2Axis1.dot(b1Axis3),b2Axis1.dot(b1Axis1) ); swx = b2Axis1.dot(b1Axis1); swy = b2Axis1.dot(b1Axis3); @@ -199,7 +199,7 @@ bool GodotConeTwistJoint3D::setup(real_t p_timestep) { // Twist limits if (m_twistSpan >= real_t(0.)) { - Vector3 b2Axis22 = B->get_transform().basis.xform(this->m_rbBFrame.basis.get_axis(1)); + Vector3 b2Axis22 = B->get_transform().basis.xform(this->m_rbBFrame.basis.get_column(1)); Quaternion rotationArc = Quaternion(b2Axis1, b1Axis1); Vector3 TwistRef = rotationArc.xform(b2Axis22); real_t twist = atan2fast(TwistRef.dot(b1Axis3), TwistRef.dot(b1Axis2)); diff --git a/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp b/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp index 41e9bf06bb0..e0fa9401040 100644 --- a/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp +++ b/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp @@ -249,8 +249,8 @@ void GodotGeneric6DOFJoint3D::calculateAngleInfo() { // easier to take the euler rate expression for d(angle[2])/dt with respect // to the components of w and set that to 0. - Vector3 axis0 = m_calculatedTransformB.basis.get_axis(0); - Vector3 axis2 = m_calculatedTransformA.basis.get_axis(2); + Vector3 axis0 = m_calculatedTransformB.basis.get_column(0); + Vector3 axis2 = m_calculatedTransformA.basis.get_column(2); m_calculatedAxis[1] = axis2.cross(axis0); m_calculatedAxis[0] = m_calculatedAxis[1].cross(axis2); @@ -345,9 +345,9 @@ bool GodotGeneric6DOFJoint3D::setup(real_t p_timestep) { for (i = 0; i < 3; i++) { if (m_linearLimits.enable_limit[i] && m_linearLimits.isLimited(i)) { if (m_useLinearReferenceFrameA) { - normalWorld = m_calculatedTransformA.basis.get_axis(i); + normalWorld = m_calculatedTransformA.basis.get_column(i); } else { - normalWorld = m_calculatedTransformB.basis.get_axis(i); + normalWorld = m_calculatedTransformB.basis.get_column(i); } buildLinearJacobian( @@ -388,9 +388,9 @@ void GodotGeneric6DOFJoint3D::solve(real_t p_timestep) { jacDiagABInv = real_t(1.) / m_jacLinear[i].getDiagonal(); if (m_useLinearReferenceFrameA) { - linear_axis = m_calculatedTransformA.basis.get_axis(i); + linear_axis = m_calculatedTransformA.basis.get_column(i); } else { - linear_axis = m_calculatedTransformB.basis.get_axis(i); + linear_axis = m_calculatedTransformB.basis.get_column(i); } m_linearLimits.solveLinearAxis( diff --git a/servers/physics_3d/joints/godot_hinge_joint_3d.cpp b/servers/physics_3d/joints/godot_hinge_joint_3d.cpp index 1c4d5dec23d..01c59395c8b 100644 --- a/servers/physics_3d/joints/godot_hinge_joint_3d.cpp +++ b/servers/physics_3d/joints/godot_hinge_joint_3d.cpp @@ -92,16 +92,16 @@ GodotHingeJoint3D::GodotHingeJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const V m_rbAFrame.origin = pivotInA; // since no frame is given, assume this to be zero angle and just pick rb transform axis - Vector3 rbAxisA1 = rbA->get_transform().basis.get_axis(0); + Vector3 rbAxisA1 = rbA->get_transform().basis.get_column(0); Vector3 rbAxisA2; real_t projection = axisInA.dot(rbAxisA1); if (projection >= 1.0f - CMP_EPSILON) { - rbAxisA1 = -rbA->get_transform().basis.get_axis(2); - rbAxisA2 = rbA->get_transform().basis.get_axis(1); + rbAxisA1 = -rbA->get_transform().basis.get_column(2); + rbAxisA2 = rbA->get_transform().basis.get_column(1); } else if (projection <= -1.0f + CMP_EPSILON) { - rbAxisA1 = rbA->get_transform().basis.get_axis(2); - rbAxisA2 = rbA->get_transform().basis.get_axis(1); + rbAxisA1 = rbA->get_transform().basis.get_column(2); + rbAxisA2 = rbA->get_transform().basis.get_column(1); } else { rbAxisA2 = axisInA.cross(rbAxisA1); rbAxisA1 = rbAxisA2.cross(axisInA); @@ -171,11 +171,11 @@ bool GodotHingeJoint3D::setup(real_t p_step) { Vector3 jointAxis0local; Vector3 jointAxis1local; - plane_space(m_rbAFrame.basis.get_axis(2), jointAxis0local, jointAxis1local); + plane_space(m_rbAFrame.basis.get_column(2), jointAxis0local, jointAxis1local); Vector3 jointAxis0 = A->get_transform().basis.xform(jointAxis0local); Vector3 jointAxis1 = A->get_transform().basis.xform(jointAxis1local); - Vector3 hingeAxisWorld = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(2)); + Vector3 hingeAxisWorld = A->get_transform().basis.xform(m_rbAFrame.basis.get_column(2)); memnew_placement( &m_jacAng[0], @@ -226,7 +226,7 @@ bool GodotHingeJoint3D::setup(real_t p_step) { } //Compute K = J*W*J' for hinge axis - Vector3 axisA = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(2)); + Vector3 axisA = A->get_transform().basis.xform(m_rbAFrame.basis.get_column(2)); m_kHinge = 1.0f / (A->compute_angular_impulse_denominator(axisA) + B->compute_angular_impulse_denominator(axisA)); return true; @@ -271,8 +271,8 @@ void GodotHingeJoint3D::solve(real_t p_step) { ///solve angular part // get axes in world space - Vector3 axisA = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(2)); - Vector3 axisB = B->get_transform().basis.xform(m_rbBFrame.basis.get_axis(2)); + Vector3 axisA = A->get_transform().basis.xform(m_rbAFrame.basis.get_column(2)); + Vector3 axisB = B->get_transform().basis.xform(m_rbBFrame.basis.get_column(2)); const Vector3 &angVelA = A->get_angular_velocity(); const Vector3 &angVelB = B->get_angular_velocity(); @@ -384,9 +384,9 @@ static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) { } real_t GodotHingeJoint3D::get_hinge_angle() { - const Vector3 refAxis0 = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(0)); - const Vector3 refAxis1 = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(1)); - const Vector3 swingAxis = B->get_transform().basis.xform(m_rbBFrame.basis.get_axis(1)); + const Vector3 refAxis0 = A->get_transform().basis.xform(m_rbAFrame.basis.get_column(0)); + const Vector3 refAxis1 = A->get_transform().basis.xform(m_rbAFrame.basis.get_column(1)); + const Vector3 swingAxis = B->get_transform().basis.xform(m_rbBFrame.basis.get_column(1)); return atan2fast(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1)); } diff --git a/servers/physics_3d/joints/godot_slider_joint_3d.cpp b/servers/physics_3d/joints/godot_slider_joint_3d.cpp index f1754213041..4539be21e39 100644 --- a/servers/physics_3d/joints/godot_slider_joint_3d.cpp +++ b/servers/physics_3d/joints/godot_slider_joint_3d.cpp @@ -102,7 +102,7 @@ bool GodotSliderJoint3D::setup(real_t p_step) { m_calculatedTransformB = B->get_transform() * m_frameInB; m_realPivotAInW = m_calculatedTransformA.origin; m_realPivotBInW = m_calculatedTransformB.origin; - m_sliderAxis = m_calculatedTransformA.basis.get_axis(0); // along X + m_sliderAxis = m_calculatedTransformA.basis.get_column(0); // along X m_delta = m_realPivotBInW - m_realPivotAInW; m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis; m_relPosA = m_projPivotInW - A->get_transform().origin; @@ -111,7 +111,7 @@ bool GodotSliderJoint3D::setup(real_t p_step) { int i; //linear part for (i = 0; i < 3; i++) { - normalWorld = m_calculatedTransformA.basis.get_axis(i); + normalWorld = m_calculatedTransformA.basis.get_column(i); memnew_placement( &m_jacLin[i], GodotJacobianEntry3D( @@ -130,7 +130,7 @@ bool GodotSliderJoint3D::setup(real_t p_step) { testLinLimits(); // angular part for (i = 0; i < 3; i++) { - normalWorld = m_calculatedTransformA.basis.get_axis(i); + normalWorld = m_calculatedTransformA.basis.get_column(i); memnew_placement( &m_jacAng[i], GodotJacobianEntry3D( @@ -141,7 +141,7 @@ bool GodotSliderJoint3D::setup(real_t p_step) { B->get_inv_inertia())); } testAngLimits(); - Vector3 axisA = m_calculatedTransformA.basis.get_axis(0); + Vector3 axisA = m_calculatedTransformA.basis.get_column(0); m_kAngle = real_t(1.0) / (A->compute_angular_impulse_denominator(axisA) + B->compute_angular_impulse_denominator(axisA)); // clear accumulator for motors m_accumulatedLinMotorImpulse = real_t(0.0); @@ -206,8 +206,8 @@ void GodotSliderJoint3D::solve(real_t p_step) { } // angular // get axes in world space - Vector3 axisA = m_calculatedTransformA.basis.get_axis(0); - Vector3 axisB = m_calculatedTransformB.basis.get_axis(0); + Vector3 axisA = m_calculatedTransformA.basis.get_column(0); + Vector3 axisB = m_calculatedTransformB.basis.get_column(0); const Vector3 &angVelA = A->get_angular_velocity(); const Vector3 &angVelB = B->get_angular_velocity(); @@ -297,14 +297,14 @@ void GodotSliderJoint3D::calculateTransforms() { m_calculatedTransformB = B->get_transform() * m_frameInB; m_realPivotAInW = m_calculatedTransformA.origin; m_realPivotBInW = m_calculatedTransformB.origin; - m_sliderAxis = m_calculatedTransformA.basis.get_axis(0); // along X + m_sliderAxis = m_calculatedTransformA.basis.get_column(0); // along X m_delta = m_realPivotBInW - m_realPivotAInW; m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis; Vector3 normalWorld; int i; //linear part for (i = 0; i < 3; i++) { - normalWorld = m_calculatedTransformA.basis.get_axis(i); + normalWorld = m_calculatedTransformA.basis.get_column(i); m_depth[i] = m_delta.dot(normalWorld); } } @@ -335,9 +335,9 @@ void GodotSliderJoint3D::testAngLimits() { m_angDepth = real_t(0.); m_solveAngLim = false; if (m_lowerAngLimit <= m_upperAngLimit) { - const Vector3 axisA0 = m_calculatedTransformA.basis.get_axis(1); - const Vector3 axisA1 = m_calculatedTransformA.basis.get_axis(2); - const Vector3 axisB0 = m_calculatedTransformB.basis.get_axis(1); + const Vector3 axisA0 = m_calculatedTransformA.basis.get_column(1); + const Vector3 axisA1 = m_calculatedTransformA.basis.get_column(2); + const Vector3 axisB0 = m_calculatedTransformB.basis.get_column(1); real_t rot = atan2fast(axisB0.dot(axisA1), axisB0.dot(axisA0)); if (rot < m_lowerAngLimit) { m_angDepth = rot - m_lowerAngLimit; diff --git a/servers/rendering/renderer_rd/cluster_builder_rd.h b/servers/rendering/renderer_rd/cluster_builder_rd.h index 456a7e03f45..e82193ea6a9 100644 --- a/servers/rendering/renderer_rd/cluster_builder_rd.h +++ b/servers/rendering/renderer_rd/cluster_builder_rd.h @@ -289,11 +289,11 @@ public: e.touches_near = min_d < z_near; } else { //contains camera inside light - Plane base_plane(-xform.basis.get_axis(Vector3::AXIS_Z), xform.origin); + Plane base_plane(-xform.basis.get_column(Vector3::AXIS_Z), xform.origin); float dist = base_plane.distance_to(Vector3()); if (dist >= 0 && dist < radius) { //inside, check angle - float angle = Math::rad2deg(Math::acos((-xform.origin.normalized()).dot(-xform.basis.get_axis(Vector3::AXIS_Z)))); + float angle = Math::rad2deg(Math::acos((-xform.origin.normalized()).dot(-xform.basis.get_column(Vector3::AXIS_Z)))); e.touches_near = angle < p_spot_aperture * 1.05; //overfit aperture a little due to cone overfit } else { e.touches_near = false; diff --git a/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.cpp b/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.cpp index ace948d1497..4bfaad9fe63 100644 --- a/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.cpp +++ b/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.cpp @@ -977,7 +977,7 @@ void RenderForwardClustered::_fill_render_list(RenderListType p_render_list, con } uint32_t lightmap_captures_used = 0; - Plane near_plane = Plane(-p_render_data->cam_transform.basis.get_axis(Vector3::AXIS_Z), p_render_data->cam_transform.origin); + Plane near_plane = Plane(-p_render_data->cam_transform.basis.get_column(Vector3::AXIS_Z), p_render_data->cam_transform.origin); near_plane.d += p_render_data->cam_projection.get_z_near(); float z_max = p_render_data->cam_projection.get_z_far() - p_render_data->cam_projection.get_z_near(); @@ -1984,9 +1984,9 @@ void RenderForwardClustered::_render_sdfgi(RID p_render_buffers, const Vector3i fb_size.y = p_size[up_axis]; render_data.cam_transform.origin = center + axis * half_extents; - render_data.cam_transform.basis.set_axis(0, right); - render_data.cam_transform.basis.set_axis(1, up); - render_data.cam_transform.basis.set_axis(2, axis); + render_data.cam_transform.basis.set_column(0, right); + render_data.cam_transform.basis.set_column(1, up); + render_data.cam_transform.basis.set_column(2, axis); //print_line("pass: " + itos(i) + " xform " + render_data.cam_transform); diff --git a/servers/rendering/renderer_rd/forward_mobile/render_forward_mobile.cpp b/servers/rendering/renderer_rd/forward_mobile/render_forward_mobile.cpp index b9f49cf008d..1cbf804ece4 100644 --- a/servers/rendering/renderer_rd/forward_mobile/render_forward_mobile.cpp +++ b/servers/rendering/renderer_rd/forward_mobile/render_forward_mobile.cpp @@ -1341,7 +1341,7 @@ void RenderForwardMobile::_fill_render_list(RenderListType p_render_list, const } uint32_t lightmap_captures_used = 0; - Plane near_plane(-p_render_data->cam_transform.basis.get_axis(Vector3::AXIS_Z), p_render_data->cam_transform.origin); + Plane near_plane(-p_render_data->cam_transform.basis.get_column(Vector3::AXIS_Z), p_render_data->cam_transform.origin); near_plane.d += p_render_data->cam_projection.get_z_near(); float z_max = p_render_data->cam_projection.get_z_far() - p_render_data->cam_projection.get_z_near(); diff --git a/servers/rendering/renderer_rd/renderer_scene_gi_rd.cpp b/servers/rendering/renderer_rd/renderer_scene_gi_rd.cpp index 6eebf849340..5cbacb0ef38 100644 --- a/servers/rendering/renderer_rd/renderer_scene_gi_rd.cpp +++ b/servers/rendering/renderer_rd/renderer_scene_gi_rd.cpp @@ -1469,7 +1469,7 @@ void RendererSceneGIRD::SDFGI::pre_process_gi(const Transform3D &p_transform, Re continue; } - Vector3 dir = -li->transform.basis.get_axis(Vector3::AXIS_Z); + Vector3 dir = -li->transform.basis.get_column(Vector3::AXIS_Z); dir.y *= y_mult; dir.normalize(); lights[idx].direction[0] = dir.x; @@ -1508,7 +1508,7 @@ void RendererSceneGIRD::SDFGI::pre_process_gi(const Transform3D &p_transform, Re continue; } - Vector3 dir = -li->transform.basis.get_axis(Vector3::AXIS_Z); + Vector3 dir = -li->transform.basis.get_column(Vector3::AXIS_Z); //faster to not do this here //dir.y *= y_mult; //dir.normalize(); @@ -1946,7 +1946,7 @@ void RendererSceneGIRD::SDFGI::render_static_lights(RID p_render_buffers, uint32 lights[idx].type = RSG::light_storage->light_get_type(li->light); - Vector3 dir = -li->transform.basis.get_axis(Vector3::AXIS_Z); + Vector3 dir = -li->transform.basis.get_column(Vector3::AXIS_Z); if (lights[idx].type == RS::LIGHT_DIRECTIONAL) { dir.y *= y_mult; //only makes sense for directional dir.normalize(); @@ -2416,7 +2416,7 @@ void RendererSceneGIRD::VoxelGIInstance::update(bool p_update_light_instances, c Transform3D xform = p_scene_render->light_instance_get_base_transform(light_instance); Vector3 pos = to_probe_xform.xform(xform.origin); - Vector3 dir = to_probe_xform.basis.xform(-xform.basis.get_axis(2)).normalized(); + Vector3 dir = to_probe_xform.basis.xform(-xform.basis.get_column(2)).normalized(); l.position[0] = pos.x; l.position[1] = pos.y; @@ -2593,17 +2593,17 @@ void RendererSceneGIRD::VoxelGIInstance::update(bool p_update_light_instances, c Transform3D xform; xform.set_look_at(center - aabb.size * 0.5 * render_dir, center, up_dir); - Vector3 x_dir = xform.basis.get_axis(0).abs(); + Vector3 x_dir = xform.basis.get_column(0).abs(); int x_axis = int(Vector3(0, 1, 2).dot(x_dir)); - Vector3 y_dir = xform.basis.get_axis(1).abs(); + Vector3 y_dir = xform.basis.get_column(1).abs(); int y_axis = int(Vector3(0, 1, 2).dot(y_dir)); - Vector3 z_dir = -xform.basis.get_axis(2); + Vector3 z_dir = -xform.basis.get_column(2); int z_axis = int(Vector3(0, 1, 2).dot(z_dir.abs())); Rect2i rect(aabb.position[x_axis], aabb.position[y_axis], aabb.size[x_axis], aabb.size[y_axis]); - bool x_flip = bool(Vector3(1, 1, 1).dot(xform.basis.get_axis(0)) < 0); - bool y_flip = bool(Vector3(1, 1, 1).dot(xform.basis.get_axis(1)) < 0); - bool z_flip = bool(Vector3(1, 1, 1).dot(xform.basis.get_axis(2)) > 0); + bool x_flip = bool(Vector3(1, 1, 1).dot(xform.basis.get_column(0)) < 0); + bool y_flip = bool(Vector3(1, 1, 1).dot(xform.basis.get_column(1)) < 0); + bool z_flip = bool(Vector3(1, 1, 1).dot(xform.basis.get_column(2)) > 0); CameraMatrix cm; cm.set_orthogonal(-rect.size.width / 2, rect.size.width / 2, -rect.size.height / 2, rect.size.height / 2, 0.0001, aabb.size[z_axis]); diff --git a/servers/rendering/renderer_rd/renderer_scene_render_rd.cpp b/servers/rendering/renderer_rd/renderer_scene_render_rd.cpp index 3bfcf18f124..7f874fc2ef1 100644 --- a/servers/rendering/renderer_rd/renderer_scene_render_rd.cpp +++ b/servers/rendering/renderer_rd/renderer_scene_render_rd.cpp @@ -3280,7 +3280,7 @@ void RendererSceneRenderRD::_setup_lights(const PagedArray &p_lights, const r_directional_light_count = 0; r_positional_light_count = 0; - Plane camera_plane(-p_camera_transform.basis.get_axis(Vector3::AXIS_Z).normalized(), p_camera_transform.origin); + Plane camera_plane(-p_camera_transform.basis.get_column(Vector3::AXIS_Z).normalized(), p_camera_transform.origin); cluster.omni_light_count = 0; cluster.spot_light_count = 0; @@ -3753,7 +3753,7 @@ void RendererSceneRenderRD::_setup_decals(const PagedArray &p_decals, const Transform3D to_decal_xform = (p_camera_inverse_xform * di->transform * scale_xform * uv_xform).affine_inverse(); RendererStorageRD::store_transform(to_decal_xform, dd.xform); - Vector3 normal = xform.basis.get_axis(Vector3::AXIS_Y).normalized(); + Vector3 normal = xform.basis.get_column(Vector3::AXIS_Y).normalized(); normal = p_camera_inverse_xform.basis.xform(normal); //camera is normalized, so fine dd.normal[0] = normal.x; @@ -4824,7 +4824,7 @@ void RendererSceneRenderRD::_pre_opaque_render(RenderDataRD *p_render_data, bool render_state.shadows.clear(); render_state.directional_shadows.clear(); - Plane camera_plane(-p_render_data->cam_transform.basis.get_axis(Vector3::AXIS_Z), p_render_data->cam_transform.origin); + Plane camera_plane(-p_render_data->cam_transform.basis.get_column(Vector3::AXIS_Z), p_render_data->cam_transform.origin); float lod_distance_multiplier = p_render_data->cam_projection.get_lod_multiplier(); { for (int i = 0; i < render_state.render_shadow_count; i++) { @@ -5020,7 +5020,7 @@ void RendererSceneRenderRD::render_scene(RID p_render_buffers, const CameraData // this should be the same for all cameras.. render_data.lod_distance_multiplier = p_camera_data->main_projection.get_lod_multiplier(); - render_data.lod_camera_plane = Plane(-p_camera_data->main_transform.basis.get_axis(Vector3::AXIS_Z), p_camera_data->main_transform.get_origin()); + render_data.lod_camera_plane = Plane(-p_camera_data->main_transform.basis.get_column(Vector3::AXIS_Z), p_camera_data->main_transform.get_origin()); if (get_debug_draw_mode() == RS::VIEWPORT_DEBUG_DRAW_DISABLE_LOD) { render_data.screen_mesh_lod_threshold = 0.0; @@ -5339,7 +5339,7 @@ void RendererSceneRenderRD::render_particle_collider_heightfield(RID p_collider, cam_pos.y += extents.y; Transform3D cam_xform; - cam_xform.set_look_at(cam_pos, cam_pos - p_transform.basis.get_axis(Vector3::AXIS_Y), -p_transform.basis.get_axis(Vector3::AXIS_Z).normalized()); + cam_xform.set_look_at(cam_pos, cam_pos - p_transform.basis.get_column(Vector3::AXIS_Y), -p_transform.basis.get_column(Vector3::AXIS_Z).normalized()); RID fb = particles_storage->particles_collision_get_heightfield_framebuffer(p_collider); diff --git a/servers/rendering/renderer_scene_cull.cpp b/servers/rendering/renderer_scene_cull.cpp index 885b37d462c..6e1fa59a7a7 100644 --- a/servers/rendering/renderer_scene_cull.cpp +++ b/servers/rendering/renderer_scene_cull.cpp @@ -2065,9 +2065,9 @@ void RendererSceneCull::_light_instance_setup_directional_shadow(int p_shadow_in Transform3D transform = light_transform; //discard scale and stabilize light - Vector3 x_vec = transform.basis.get_axis(Vector3::AXIS_X).normalized(); - Vector3 y_vec = transform.basis.get_axis(Vector3::AXIS_Y).normalized(); - Vector3 z_vec = transform.basis.get_axis(Vector3::AXIS_Z).normalized(); + Vector3 x_vec = transform.basis.get_column(Vector3::AXIS_X).normalized(); + Vector3 y_vec = transform.basis.get_column(Vector3::AXIS_Y).normalized(); + Vector3 z_vec = transform.basis.get_column(Vector3::AXIS_Z).normalized(); //z_vec points against the camera, like in default opengl real_t x_min = 0.f, x_max = 0.f; @@ -2721,7 +2721,7 @@ void RendererSceneCull::_scene_cull(CullData &cull_data, InstanceCullResult &cul cull_data.cull->lock.lock(); RSG::particles_storage->particles_request_process(idata.base_rid); cull_data.cull->lock.unlock(); - RSG::particles_storage->particles_set_view_axis(idata.base_rid, -cull_data.cam_transform.basis.get_axis(2).normalized(), cull_data.cam_transform.basis.get_axis(1).normalized()); + RSG::particles_storage->particles_set_view_axis(idata.base_rid, -cull_data.cam_transform.basis.get_column(2).normalized(), cull_data.cam_transform.basis.get_column(1).normalized()); //particles visible? request redraw RenderingServerDefault::redraw_request(); } @@ -3082,7 +3082,7 @@ void RendererSceneCull::_render_scene(const RendererSceneRender::CameraData *p_c Transform3D cam_xf = p_camera_data->main_transform; float zn = p_camera_data->main_projection.get_z_near(); - Plane p(-cam_xf.basis.get_axis(2), cam_xf.origin + cam_xf.basis.get_axis(2) * -zn); //camera near plane + Plane p(-cam_xf.basis.get_column(2), cam_xf.origin + cam_xf.basis.get_column(2) * -zn); //camera near plane // near plane half width and height Vector2 vp_half_extents = p_camera_data->main_projection.get_viewport_half_extents(); @@ -3094,7 +3094,7 @@ void RendererSceneCull::_render_scene(const RendererSceneRender::CameraData *p_c //get two points parallel to near plane Vector3 points[2] = { ins->transform.origin, - ins->transform.origin + cam_xf.basis.get_axis(0) * radius + ins->transform.origin + cam_xf.basis.get_column(0) * radius }; if (!p_camera_data->is_orthogonal) { @@ -3118,11 +3118,11 @@ void RendererSceneCull::_render_scene(const RendererSceneRender::CameraData *p_c float w = radius * Math::sin(Math::deg2rad(angle)); float d = radius * Math::cos(Math::deg2rad(angle)); - Vector3 base = ins->transform.origin - ins->transform.basis.get_axis(2).normalized() * d; + Vector3 base = ins->transform.origin - ins->transform.basis.get_column(2).normalized() * d; Vector3 points[2] = { base, - base + cam_xf.basis.get_axis(0) * w + base + cam_xf.basis.get_column(0) * w }; if (!p_camera_data->is_orthogonal) { diff --git a/servers/rendering/renderer_scene_render.cpp b/servers/rendering/renderer_scene_render.cpp index fadece317ab..a4d281fac45 100644 --- a/servers/rendering/renderer_scene_render.cpp +++ b/servers/rendering/renderer_scene_render.cpp @@ -65,7 +65,7 @@ void RendererSceneRender::CameraData::set_multiview_camera(uint32_t p_view_count Vector3 y = n0.cross(n1).normalized(); Vector3 x = y.cross(z).normalized(); y = z.cross(x).normalized(); - main_transform.basis.set(x, y, z); + main_transform.basis.set_columns(x, y, z); // 3. create a horizon plane with one of the eyes and the up vector as normal. Plane horizon(y, p_transforms[0].origin); diff --git a/servers/xr_server.cpp b/servers/xr_server.cpp index 6e231237e4d..8314e356d20 100644 --- a/servers/xr_server.cpp +++ b/servers/xr_server.cpp @@ -131,13 +131,13 @@ void XRServer::center_on_hmd(RotationMode p_rotation_mode, bool p_keep_height) { // remove our tilt if (p_rotation_mode == 1) { // take the Y out of our Z - new_reference_frame.basis.set_axis(2, Vector3(new_reference_frame.basis.rows[0][2], 0.0, new_reference_frame.basis.rows[2][2]).normalized()); + new_reference_frame.basis.set_column(2, Vector3(new_reference_frame.basis.rows[0][2], 0.0, new_reference_frame.basis.rows[2][2]).normalized()); // Y is straight up - new_reference_frame.basis.set_axis(1, Vector3(0.0, 1.0, 0.0)); + new_reference_frame.basis.set_column(1, Vector3(0.0, 1.0, 0.0)); // and X is our cross reference - new_reference_frame.basis.set_axis(0, new_reference_frame.basis.get_axis(1).cross(new_reference_frame.basis.get_axis(2)).normalized()); + new_reference_frame.basis.set_column(0, new_reference_frame.basis.get_column(1).cross(new_reference_frame.basis.get_column(2)).normalized()); } else if (p_rotation_mode == 2) { // remove our rotation, we're only interesting in centering on position new_reference_frame.basis = Basis(); diff --git a/tests/core/math/test_basis.h b/tests/core/math/test_basis.h index 257e41e82cd..ec58d95eeda 100644 --- a/tests/core/math/test_basis.h +++ b/tests/core/math/test_basis.h @@ -164,9 +164,9 @@ void test_rotation(Vector3 deg_original_euler, RotOrder rot_order) { Basis res = to_rotation.inverse() * rotation_from_computed_euler; - CHECK_MESSAGE((res.get_axis(0) - Vector3(1.0, 0.0, 0.0)).length() <= 0.1, vformat("Fail due to X %s\n", String(res.get_axis(0))).utf8().ptr()); - CHECK_MESSAGE((res.get_axis(1) - Vector3(0.0, 1.0, 0.0)).length() <= 0.1, vformat("Fail due to Y %s\n", String(res.get_axis(1))).utf8().ptr()); - CHECK_MESSAGE((res.get_axis(2) - Vector3(0.0, 0.0, 1.0)).length() <= 0.1, vformat("Fail due to Z %s\n", String(res.get_axis(2))).utf8().ptr()); + CHECK_MESSAGE((res.get_column(0) - Vector3(1.0, 0.0, 0.0)).length() <= 0.1, vformat("Fail due to X %s\n", String(res.get_column(0))).utf8().ptr()); + CHECK_MESSAGE((res.get_column(1) - Vector3(0.0, 1.0, 0.0)).length() <= 0.1, vformat("Fail due to Y %s\n", String(res.get_column(1))).utf8().ptr()); + CHECK_MESSAGE((res.get_column(2) - Vector3(0.0, 0.0, 1.0)).length() <= 0.1, vformat("Fail due to Z %s\n", String(res.get_column(2))).utf8().ptr()); // Double check `to_rotation` decomposing with XYZ rotation order. const Vector3 euler_xyz_from_rotation = to_rotation.get_euler(Basis::EULER_ORDER_XYZ); @@ -175,9 +175,9 @@ void test_rotation(Vector3 deg_original_euler, RotOrder rot_order) { res = to_rotation.inverse() * rotation_from_xyz_computed_euler; - CHECK_MESSAGE((res.get_axis(0) - Vector3(1.0, 0.0, 0.0)).length() <= 0.1, vformat("Double check with XYZ rot order failed, due to X %s\n", String(res.get_axis(0))).utf8().ptr()); - CHECK_MESSAGE((res.get_axis(1) - Vector3(0.0, 1.0, 0.0)).length() <= 0.1, vformat("Double check with XYZ rot order failed, due to Y %s\n", String(res.get_axis(1))).utf8().ptr()); - CHECK_MESSAGE((res.get_axis(2) - Vector3(0.0, 0.0, 1.0)).length() <= 0.1, vformat("Double check with XYZ rot order failed, due to Z %s\n", String(res.get_axis(2))).utf8().ptr()); + CHECK_MESSAGE((res.get_column(0) - Vector3(1.0, 0.0, 0.0)).length() <= 0.1, vformat("Double check with XYZ rot order failed, due to X %s\n", String(res.get_column(0))).utf8().ptr()); + CHECK_MESSAGE((res.get_column(1) - Vector3(0.0, 1.0, 0.0)).length() <= 0.1, vformat("Double check with XYZ rot order failed, due to Y %s\n", String(res.get_column(1))).utf8().ptr()); + CHECK_MESSAGE((res.get_column(2) - Vector3(0.0, 0.0, 1.0)).length() <= 0.1, vformat("Double check with XYZ rot order failed, due to Z %s\n", String(res.get_column(2))).utf8().ptr()); INFO(vformat("Rotation order: %s\n.", get_rot_order_name(rot_order)).utf8().ptr()); INFO(vformat("Original Rotation: %s\n", String(deg_original_euler)).utf8().ptr());