71 lines
4 KiB
C++
71 lines
4 KiB
C++
/**************************************************************************/
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/* jolt_math_funcs.cpp */
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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) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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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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/*
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Adapted to Godot from the Jolt Physics library.
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*/
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/*
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Copyright 2021 Jorrit Rouwe
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Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in
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the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR
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A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
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ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include "jolt_math_funcs.h"
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void JoltMath::decompose(Basis &p_basis, Vector3 &r_scale) {
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Vector3 x = p_basis.get_column(Vector3::AXIS_X);
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Vector3 y = p_basis.get_column(Vector3::AXIS_Y);
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Vector3 z = p_basis.get_column(Vector3::AXIS_Z);
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const real_t x_dot_x = x.dot(x);
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y -= x * (y.dot(x) / x_dot_x);
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z -= x * (z.dot(x) / x_dot_x);
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const real_t y_dot_y = y.dot(y);
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z -= y * (z.dot(y) / y_dot_y);
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const real_t z_dot_z = z.dot(z);
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const real_t det = x.cross(y).dot(z);
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r_scale = SIGN(det) * Vector3(Math::sqrt(x_dot_x), Math::sqrt(y_dot_y), Math::sqrt(z_dot_z));
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p_basis.set_column(Vector3::AXIS_X, x / r_scale.x);
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p_basis.set_column(Vector3::AXIS_Y, y / r_scale.y);
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p_basis.set_column(Vector3::AXIS_Z, z / r_scale.z);
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}
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