-
-
Notifications
You must be signed in to change notification settings - Fork 21.8k
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Fix broken negative scaling when using Jolt Physics
- Loading branch information
Showing
6 changed files
with
158 additions
and
28 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,70 @@ | ||
| /**************************************************************************/ | ||
| /* jolt_math_funcs.cpp */ | ||
| /**************************************************************************/ | ||
| /* This file is part of: */ | ||
| /* GODOT ENGINE */ | ||
| /* https://godotengine.org */ | ||
| /**************************************************************************/ | ||
| /* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ | ||
| /* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ | ||
| /* */ | ||
| /* Permission is hereby granted, free of charge, to any person obtaining */ | ||
| /* a copy of this software and associated documentation files (the */ | ||
| /* "Software"), to deal in the Software without restriction, including */ | ||
| /* without limitation the rights to use, copy, modify, merge, publish, */ | ||
| /* distribute, sublicense, and/or sell copies of the Software, and to */ | ||
| /* permit persons to whom the Software is furnished to do so, subject to */ | ||
| /* the following conditions: */ | ||
| /* */ | ||
| /* The above copyright notice and this permission notice shall be */ | ||
| /* included in all copies or substantial portions of the Software. */ | ||
| /* */ | ||
| /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ | ||
| /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ | ||
| /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ | ||
| /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ | ||
| /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ | ||
| /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ | ||
| /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ | ||
| /**************************************************************************/ | ||
|
|
||
| /* | ||
| Adapted to Godot from the Jolt Physics library. | ||
| */ | ||
|
|
||
| /* | ||
| Copyright 2021 Jorrit Rouwe | ||
| Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in | ||
| the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of | ||
| the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: | ||
| The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. | ||
| THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR | ||
| A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN | ||
| ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. | ||
| */ | ||
|
|
||
| #include "jolt_math_funcs.h" | ||
|
|
||
| void JoltMath::decompose(Basis &p_basis, Vector3 &r_scale) { | ||
| Vector3 x = p_basis.get_column(Vector3::AXIS_X); | ||
| Vector3 y = p_basis.get_column(Vector3::AXIS_Y); | ||
| Vector3 z = p_basis.get_column(Vector3::AXIS_Z); | ||
|
|
||
| const real_t x_dot_x = x.dot(x); | ||
| y -= x * (y.dot(x) / x_dot_x); | ||
| z -= x * (z.dot(x) / x_dot_x); | ||
| const real_t y_dot_y = y.dot(y); | ||
| z -= y * (z.dot(y) / y_dot_y); | ||
| const real_t z_dot_z = z.dot(z); | ||
|
|
||
| const real_t det = x.cross(y).dot(z); | ||
|
|
||
| r_scale = SIGN(det) * Vector3(Math::sqrt(x_dot_x), Math::sqrt(y_dot_y), Math::sqrt(z_dot_z)); | ||
|
|
||
| p_basis.set_column(Vector3::AXIS_X, x / r_scale.x); | ||
| p_basis.set_column(Vector3::AXIS_Y, y / r_scale.y); | ||
| p_basis.set_column(Vector3::AXIS_Z, z / r_scale.z); | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,59 @@ | ||
| /**************************************************************************/ | ||
| /* jolt_math_funcs.h */ | ||
| /**************************************************************************/ | ||
| /* This file is part of: */ | ||
| /* GODOT ENGINE */ | ||
| /* https://godotengine.org */ | ||
| /**************************************************************************/ | ||
| /* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ | ||
| /* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ | ||
| /* */ | ||
| /* Permission is hereby granted, free of charge, to any person obtaining */ | ||
| /* a copy of this software and associated documentation files (the */ | ||
| /* "Software"), to deal in the Software without restriction, including */ | ||
| /* without limitation the rights to use, copy, modify, merge, publish, */ | ||
| /* distribute, sublicense, and/or sell copies of the Software, and to */ | ||
| /* permit persons to whom the Software is furnished to do so, subject to */ | ||
| /* the following conditions: */ | ||
| /* */ | ||
| /* The above copyright notice and this permission notice shall be */ | ||
| /* included in all copies or substantial portions of the Software. */ | ||
| /* */ | ||
| /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ | ||
| /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ | ||
| /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ | ||
| /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ | ||
| /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ | ||
| /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ | ||
| /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ | ||
| /**************************************************************************/ | ||
|
|
||
| #ifndef JOLT_MATH_FUNCS_H | ||
| #define JOLT_MATH_FUNCS_H | ||
|
|
||
| #include "core/math/transform_3d.h" | ||
|
|
||
| class JoltMath { | ||
| public: | ||
| // Note that `p_basis` is mutated to be right-handed orthonormal. | ||
| static void decompose(Basis &p_basis, Vector3 &r_scale); | ||
|
|
||
| // Note that `p_transform` is mutated to be right-handed orthonormal. | ||
| static _FORCE_INLINE_ void decompose(Transform3D &p_transform, Vector3 &r_scale) { | ||
| decompose(p_transform.basis, r_scale); | ||
| } | ||
|
|
||
| static _FORCE_INLINE_ void decomposed(const Basis &p_basis, Basis &r_new_basis, Vector3 &r_scale) { | ||
| Basis new_basis = p_basis; | ||
| decompose(new_basis, r_scale); | ||
| r_new_basis = new_basis; | ||
| } | ||
|
|
||
| static _FORCE_INLINE_ void decomposed(const Transform3D &p_transform, Transform3D &r_new_transform, Vector3 &r_scale) { | ||
| Transform3D new_transform; | ||
| decompose(new_transform, r_scale); | ||
| r_new_transform = new_transform; | ||
| } | ||
| }; | ||
|
|
||
| #endif // JOLT_MATH_FUNCS_H |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters