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Fixed Basis -> Quat conversions, added a few safety checks.

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Fixes #19027.
This commit is contained in:
tagcup
2018-05-26 23:14:05 -04:00
parent 130fd6bcb8
commit 9d41161596
7 changed files with 40 additions and 21 deletions
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24
core/math/matrix3.cpp
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@@ -356,8 +356,7 @@ void Basis::rotate(const Quat &p_quat) {
*this = rotated(p_quat);
}
// TODO: rename this to get_rotation_euler
Vector3 Basis::get_rotation() const {
Vector3 Basis::get_rotation_euler() const {
// Assumes that the matrix can be decomposed into a proper rotation and scaling matrix as M = R.S,
// and returns the Euler angles corresponding to the rotation part, complementing get_scale().
// See the comment in get_scale() for further information.
@@ -371,6 +370,20 @@ Vector3 Basis::get_rotation() const {
return m.get_euler();
}
Quat Basis::get_rotation_quat() const {
// Assumes that the matrix can be decomposed into a proper rotation and scaling matrix as M = R.S,
// and returns the Euler angles corresponding to the rotation part, complementing get_scale().
// See the comment in get_scale() for further information.
Basis m = orthonormalized();
real_t det = m.determinant();
if (det < 0) {
// Ensure that the determinant is 1, such that result is a proper rotation matrix which can be represented by Euler angles.
m.scale(Vector3(-1, -1, -1));
}
return m.get_quat();
}
void Basis::get_rotation_axis_angle(Vector3 &p_axis, real_t &p_angle) const {
// Assumes that the matrix can be decomposed into a proper rotation and scaling matrix as M = R.S,
// and returns the Euler angles corresponding to the rotation part, complementing get_scale().
@@ -591,10 +604,9 @@ Basis::operator String() const {
}
Quat Basis::get_quat() const {
//commenting this check because precision issues cause it to fail when it shouldn't
//#ifdef MATH_CHECKS
//ERR_FAIL_COND_V(is_rotation() == false, Quat());
//#endif
#ifdef MATH_CHECKS
ERR_FAIL_COND_V(is_rotation() == false, Quat());
#endif
real_t trace = elements[0][0] + elements[1][1] + elements[2][2];
real_t temp[4];