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[3.x] Add Basis helper functions for transforming normals

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Correct transformation of normals that works with a Basis containing non-uniform scale is difficult to get correct for those not familiar with the maths, it is also rather verbose and hard to read in calling code. This PR adds helper functions which both standardize the approach and make it clearer in calling code what is being done and why.
This commit is contained in:
lawnjelly
2021-08-07 09:41:42 +01:00
parent 0f32d7d301
commit 062406b555
2 changed files with 25 additions and 11 deletions
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20
servers/physics/collision_solver_sat.cpp
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@@ -954,11 +954,11 @@ static void _collision_sphere_convex_polygon(const ShapeSW *p_a, const Transform
int vertex_count = mesh.vertices.size();
// Precalculating this makes the transforms faster.
Basis b_xform_normal = p_transform_b.basis.inverse().transposed();
Basis nx_b = p_transform_b.basis.get_normal_xform_basis();
// faces of B
for (int i = 0; i < face_count; i++) {
Vector3 axis = b_xform_normal.xform(faces[i].plane.normal).normalized();
Vector3 axis = nx_b.xform_normal_fast(faces[i].plane.normal);
if (!separator.test_axis(axis)) {
return;
@@ -1373,11 +1373,11 @@ static void _collision_box_convex_polygon(const ShapeSW *p_a, const Transform &p
}
// Precalculating this makes the transforms faster.
Basis b_xform_normal = p_transform_b.basis.inverse().transposed();
Basis nx_b = p_transform_b.basis.get_normal_xform_basis();
// faces of B
for (int i = 0; i < face_count; i++) {
Vector3 axis = b_xform_normal.xform(faces[i].plane.normal).normalized();
Vector3 axis = nx_b.xform_normal_fast(faces[i].plane.normal);
if (!separator.test_axis(axis)) {
return;
@@ -1709,11 +1709,11 @@ static void _collision_capsule_convex_polygon(const ShapeSW *p_a, const Transfor
const Vector3 *vertices = mesh.vertices.ptr();
// Precalculating this makes the transforms faster.
Basis b_xform_normal = p_transform_b.basis.inverse().transposed();
Basis nx_b = p_transform_b.basis.get_normal_xform_basis();
// faces of B
for (int i = 0; i < face_count; i++) {
Vector3 axis = b_xform_normal.xform(faces[i].plane.normal).normalized();
Vector3 axis = nx_b.xform_normal_fast(faces[i].plane.normal);
if (!separator.test_axis(axis)) {
return;
@@ -2006,11 +2006,11 @@ static void _collision_convex_polygon_convex_polygon(const ShapeSW *p_a, const T
int vertex_count_B = mesh_B.vertices.size();
// Precalculating this makes the transforms faster.
Basis a_xform_normal = p_transform_a.basis.inverse().transposed();
Basis nx_a = p_transform_a.basis.get_normal_xform_basis();
// faces of A
for (int i = 0; i < face_count_A; i++) {
Vector3 axis = a_xform_normal.xform(faces_A[i].plane.normal).normalized();
Vector3 axis = nx_a.xform_normal_fast(faces_A[i].plane.normal);
if (!separator.test_axis(axis)) {
return;
@@ -2018,11 +2018,11 @@ static void _collision_convex_polygon_convex_polygon(const ShapeSW *p_a, const T
}
// Precalculating this makes the transforms faster.
Basis b_xform_normal = p_transform_b.basis.inverse().transposed();
Basis nx_b = p_transform_b.basis.get_normal_xform_basis();
// faces of B
for (int i = 0; i < face_count_B; i++) {
Vector3 axis = b_xform_normal.xform(faces_B[i].plane.normal).normalized();
Vector3 axis = nx_b.xform_normal_fast(faces_B[i].plane.normal);
if (!separator.test_axis(axis)) {
return;