345 lines
12 KiB
C++
345 lines
12 KiB
C++
/*************************************************************************/
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/* matrix3.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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// Circular dependency between Vector3 and Basis :/
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#include "core/math/vector3.h"
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#ifndef MATRIX3_H
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#define MATRIX3_H
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#include "core/math/quat.h"
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/**
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@author Juan Linietsky <reduzio@gmail.com>
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*/
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class Basis {
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public:
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Vector3 elements[3];
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_FORCE_INLINE_ const Vector3 &operator[](int axis) const {
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return elements[axis];
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}
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_FORCE_INLINE_ Vector3 &operator[](int axis) {
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return elements[axis];
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}
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void invert();
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void transpose();
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Basis inverse() const;
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Basis transposed() const;
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_FORCE_INLINE_ real_t determinant() const;
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void from_z(const Vector3 &p_z);
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_FORCE_INLINE_ Vector3 get_axis(int p_axis) const {
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// get actual basis axis (elements is transposed for performance)
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return Vector3(elements[0][p_axis], elements[1][p_axis], elements[2][p_axis]);
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}
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_FORCE_INLINE_ void set_axis(int p_axis, const Vector3 &p_value) {
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// get actual basis axis (elements is transposed for performance)
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elements[0][p_axis] = p_value.x;
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elements[1][p_axis] = p_value.y;
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elements[2][p_axis] = p_value.z;
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}
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void rotate(const Vector3 &p_axis, real_t p_phi);
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Basis rotated(const Vector3 &p_axis, real_t p_phi) const;
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void rotate_local(const Vector3 &p_axis, real_t p_phi);
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Basis rotated_local(const Vector3 &p_axis, real_t p_phi) const;
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void rotate(const Vector3 &p_euler);
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Basis rotated(const Vector3 &p_euler) const;
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void rotate(const Quat &p_quat);
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Basis rotated(const Quat &p_quat) const;
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Vector3 get_rotation_euler() const;
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void get_rotation_axis_angle(Vector3 &p_axis, real_t &p_angle) const;
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void get_rotation_axis_angle_local(Vector3 &p_axis, real_t &p_angle) const;
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Quat get_rotation_quat() const;
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Vector3 get_rotation() const { return get_rotation_euler(); };
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Vector3 rotref_posscale_decomposition(Basis &rotref) const;
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Vector3 get_euler_xyz() const;
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void set_euler_xyz(const Vector3 &p_euler);
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Vector3 get_euler_yxz() const;
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void set_euler_yxz(const Vector3 &p_euler);
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Quat get_quat() const;
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void set_quat(const Quat &p_quat);
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Vector3 get_euler() const { return get_euler_yxz(); }
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void set_euler(const Vector3 &p_euler) { set_euler_yxz(p_euler); }
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void get_axis_angle(Vector3 &r_axis, real_t &r_angle) const;
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void set_axis_angle(const Vector3 &p_axis, real_t p_phi);
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void scale(const Vector3 &p_scale);
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Basis scaled(const Vector3 &p_scale) const;
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void scale_local(const Vector3 &p_scale);
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Basis scaled_local(const Vector3 &p_scale) const;
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Vector3 get_scale() const;
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Vector3 get_scale_abs() const;
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Vector3 get_scale_local() const;
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void set_axis_angle_scale(const Vector3 &p_axis, real_t p_phi, const Vector3 &p_scale);
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void set_euler_scale(const Vector3 &p_euler, const Vector3 &p_scale);
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void set_quat_scale(const Quat &p_quat, const Vector3 &p_scale);
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// transposed dot products
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_FORCE_INLINE_ real_t tdotx(const Vector3 &v) const {
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return elements[0][0] * v[0] + elements[1][0] * v[1] + elements[2][0] * v[2];
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}
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_FORCE_INLINE_ real_t tdoty(const Vector3 &v) const {
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return elements[0][1] * v[0] + elements[1][1] * v[1] + elements[2][1] * v[2];
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}
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_FORCE_INLINE_ real_t tdotz(const Vector3 &v) const {
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return elements[0][2] * v[0] + elements[1][2] * v[1] + elements[2][2] * v[2];
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}
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bool is_equal_approx(const Basis &a, const Basis &b) const;
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bool operator==(const Basis &p_matrix) const;
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bool operator!=(const Basis &p_matrix) const;
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_FORCE_INLINE_ Vector3 xform(const Vector3 &p_vector) const;
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_FORCE_INLINE_ Vector3 xform_inv(const Vector3 &p_vector) const;
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_FORCE_INLINE_ void operator*=(const Basis &p_matrix);
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_FORCE_INLINE_ Basis operator*(const Basis &p_matrix) const;
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_FORCE_INLINE_ void operator+=(const Basis &p_matrix);
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_FORCE_INLINE_ Basis operator+(const Basis &p_matrix) const;
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_FORCE_INLINE_ void operator-=(const Basis &p_matrix);
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_FORCE_INLINE_ Basis operator-(const Basis &p_matrix) const;
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_FORCE_INLINE_ void operator*=(real_t p_val);
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_FORCE_INLINE_ Basis operator*(real_t p_val) const;
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int get_orthogonal_index() const;
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void set_orthogonal_index(int p_index);
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void set_diagonal(const Vector3 p_diag);
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bool is_orthogonal() const;
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bool is_diagonal() const;
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bool is_rotation() const;
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Basis slerp(const Basis &target, const real_t &t) const;
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operator String() const;
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/* create / set */
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_FORCE_INLINE_ void set(real_t xx, real_t xy, real_t xz, real_t yx, real_t yy, real_t yz, real_t zx, real_t zy, real_t zz) {
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elements[0][0] = xx;
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elements[0][1] = xy;
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elements[0][2] = xz;
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elements[1][0] = yx;
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elements[1][1] = yy;
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elements[1][2] = yz;
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elements[2][0] = zx;
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elements[2][1] = zy;
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elements[2][2] = zz;
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}
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_FORCE_INLINE_ void set(const Vector3 &p_x, const Vector3 &p_y, const Vector3 &p_z) {
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set_axis(0, p_x);
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set_axis(1, p_y);
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set_axis(2, p_z);
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}
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_FORCE_INLINE_ Vector3 get_column(int i) const {
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return Vector3(elements[0][i], elements[1][i], elements[2][i]);
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}
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_FORCE_INLINE_ Vector3 get_row(int i) const {
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return Vector3(elements[i][0], elements[i][1], elements[i][2]);
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}
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_FORCE_INLINE_ Vector3 get_main_diagonal() const {
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return Vector3(elements[0][0], elements[1][1], elements[2][2]);
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}
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_FORCE_INLINE_ void set_row(int i, const Vector3 &p_row) {
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elements[i][0] = p_row.x;
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elements[i][1] = p_row.y;
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elements[i][2] = p_row.z;
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}
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_FORCE_INLINE_ void set_zero() {
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elements[0].zero();
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elements[1].zero();
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elements[2].zero();
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}
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_FORCE_INLINE_ Basis transpose_xform(const Basis &m) const {
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return Basis(
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elements[0].x * m[0].x + elements[1].x * m[1].x + elements[2].x * m[2].x,
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elements[0].x * m[0].y + elements[1].x * m[1].y + elements[2].x * m[2].y,
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elements[0].x * m[0].z + elements[1].x * m[1].z + elements[2].x * m[2].z,
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elements[0].y * m[0].x + elements[1].y * m[1].x + elements[2].y * m[2].x,
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elements[0].y * m[0].y + elements[1].y * m[1].y + elements[2].y * m[2].y,
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elements[0].y * m[0].z + elements[1].y * m[1].z + elements[2].y * m[2].z,
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elements[0].z * m[0].x + elements[1].z * m[1].x + elements[2].z * m[2].x,
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elements[0].z * m[0].y + elements[1].z * m[1].y + elements[2].z * m[2].y,
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elements[0].z * m[0].z + elements[1].z * m[1].z + elements[2].z * m[2].z);
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}
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Basis(real_t xx, real_t xy, real_t xz, real_t yx, real_t yy, real_t yz, real_t zx, real_t zy, real_t zz) {
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set(xx, xy, xz, yx, yy, yz, zx, zy, zz);
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}
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void orthonormalize();
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Basis orthonormalized() const;
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bool is_symmetric() const;
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Basis diagonalize();
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operator Quat() const { return get_quat(); }
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Basis(const Quat &p_quat) { set_quat(p_quat); };
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Basis(const Quat &p_quat, const Vector3 &p_scale) { set_quat_scale(p_quat, p_scale); }
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Basis(const Vector3 &p_euler) { set_euler(p_euler); }
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Basis(const Vector3 &p_euler, const Vector3 &p_scale) { set_euler_scale(p_euler, p_scale); }
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Basis(const Vector3 &p_axis, real_t p_phi) { set_axis_angle(p_axis, p_phi); }
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Basis(const Vector3 &p_axis, real_t p_phi, const Vector3 &p_scale) { set_axis_angle_scale(p_axis, p_phi, p_scale); }
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_FORCE_INLINE_ Basis(const Vector3 &row0, const Vector3 &row1, const Vector3 &row2) {
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elements[0] = row0;
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elements[1] = row1;
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elements[2] = row2;
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}
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_FORCE_INLINE_ Basis() {
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elements[0][0] = 1;
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elements[0][1] = 0;
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elements[0][2] = 0;
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elements[1][0] = 0;
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elements[1][1] = 1;
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elements[1][2] = 0;
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elements[2][0] = 0;
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elements[2][1] = 0;
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elements[2][2] = 1;
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}
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};
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_FORCE_INLINE_ void Basis::operator*=(const Basis &p_matrix) {
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set(
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p_matrix.tdotx(elements[0]), p_matrix.tdoty(elements[0]), p_matrix.tdotz(elements[0]),
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p_matrix.tdotx(elements[1]), p_matrix.tdoty(elements[1]), p_matrix.tdotz(elements[1]),
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p_matrix.tdotx(elements[2]), p_matrix.tdoty(elements[2]), p_matrix.tdotz(elements[2]));
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}
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_FORCE_INLINE_ Basis Basis::operator*(const Basis &p_matrix) const {
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return Basis(
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p_matrix.tdotx(elements[0]), p_matrix.tdoty(elements[0]), p_matrix.tdotz(elements[0]),
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p_matrix.tdotx(elements[1]), p_matrix.tdoty(elements[1]), p_matrix.tdotz(elements[1]),
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p_matrix.tdotx(elements[2]), p_matrix.tdoty(elements[2]), p_matrix.tdotz(elements[2]));
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}
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_FORCE_INLINE_ void Basis::operator+=(const Basis &p_matrix) {
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elements[0] += p_matrix.elements[0];
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elements[1] += p_matrix.elements[1];
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elements[2] += p_matrix.elements[2];
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}
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_FORCE_INLINE_ Basis Basis::operator+(const Basis &p_matrix) const {
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Basis ret(*this);
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ret += p_matrix;
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return ret;
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}
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_FORCE_INLINE_ void Basis::operator-=(const Basis &p_matrix) {
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elements[0] -= p_matrix.elements[0];
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elements[1] -= p_matrix.elements[1];
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elements[2] -= p_matrix.elements[2];
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}
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_FORCE_INLINE_ Basis Basis::operator-(const Basis &p_matrix) const {
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Basis ret(*this);
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ret -= p_matrix;
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return ret;
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}
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_FORCE_INLINE_ void Basis::operator*=(real_t p_val) {
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elements[0] *= p_val;
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elements[1] *= p_val;
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elements[2] *= p_val;
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}
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_FORCE_INLINE_ Basis Basis::operator*(real_t p_val) const {
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Basis ret(*this);
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ret *= p_val;
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return ret;
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}
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Vector3 Basis::xform(const Vector3 &p_vector) const {
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return Vector3(
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elements[0].dot(p_vector),
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elements[1].dot(p_vector),
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elements[2].dot(p_vector));
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}
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Vector3 Basis::xform_inv(const Vector3 &p_vector) const {
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return Vector3(
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(elements[0][0] * p_vector.x) + (elements[1][0] * p_vector.y) + (elements[2][0] * p_vector.z),
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(elements[0][1] * p_vector.x) + (elements[1][1] * p_vector.y) + (elements[2][1] * p_vector.z),
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(elements[0][2] * p_vector.x) + (elements[1][2] * p_vector.y) + (elements[2][2] * p_vector.z));
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}
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real_t Basis::determinant() const {
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return elements[0][0] * (elements[1][1] * elements[2][2] - elements[2][1] * elements[1][2]) -
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elements[1][0] * (elements[0][1] * elements[2][2] - elements[2][1] * elements[0][2]) +
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elements[2][0] * (elements[0][1] * elements[1][2] - elements[1][1] * elements[0][2]);
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}
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#endif
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