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Fix the order in which additional transformations are applied in Matrix3 and Transform.

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This is a part of the breaking changes proposed in PR #6865, solving the issue regarding the order of affine transformations described in #2565. This PR also fixes the affected code within Godot codebase. Includes improvements to documentation too.

Another change is, Matrix3::get_scale() will now return negative scaling when the determinant of the matrix is negative. The rationale behind this is simple: when performing a polar decomposition on a basis matrix M = R.S, we have to ensure that the determinant of R is +1, such that it is a proper rotation matrix (with no reflections) which can be represented by Euler angles or a quaternion.

Also replaced the few instances of float with real_t in Matrix3 and Transform.

Furthermore, this PR fixes an issue introduced due to the API breakage in #6865. Namely Matrix3::get_euler() now only works with proper rotation matrices. As a result, the code that wants to get the rotation portion of a transform needs to use Matrix3::get_rotation() introduced in this commit, which complements Matrix3::get_scaled(), providing both parts of the polar decomposition.

Finally, it is now possible to construct a rotation matrix from Euler angles using the new constructor Matrix3::Matrix3(const Vector3 &p_euler).
This commit is contained in:
Ferenc Arn
2017-01-05 11:31:39 -06:00
parent 76c2e8583e
commit 6b1252cdfa
8 changed files with 104 additions and 73 deletions
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5
tools/editor/plugins/multimesh_editor_plugin.cpp
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@@ -238,9 +238,10 @@ void MultiMeshEditor::_populate() {
Matrix3 post_xform;
post_xform.rotate(xform.basis.get_axis(0),-Math::random(-_tilt_random,_tilt_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(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);
xform.basis = post_xform * xform.basis;
//xform.basis.orthonormalize();