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Test & document conventions used by matrix4::setRotation* (#15542)

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Also includes a minor `matrix4::transformVect` refactor to make testing easier.
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Lars Müller 2024-12-14 17:02:16 +01:00 • committed by GitHub
parent f7a695c212
commit 23e502fa0e
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3 changed files with 94 additions and 23 deletions
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47
irr/include/matrix4.h
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@ -178,9 +178,13 @@ public:
CMatrix4<T> &setInverseTranslation(const vector3d<T> &translation);
//! Make a rotation matrix from Euler angles. The 4th row and column are unmodified.
//! NOTE: Rotation order is ZYX. This means that vectors are
//! first rotated around the X, then the Y, and finally the Z axis.
//! NOTE: The rotation is done as per the right-hand rule.
//! See test_irr_matrix4.cpp if you're still unsure about the conventions used here.
inline CMatrix4<T> &setRotationRadians(const vector3d<T> &rotation);
//! Make a rotation matrix from Euler angles. The 4th row and column are unmodified.
//! Same as `setRotationRadians`, but uses degrees.
CMatrix4<T> &setRotationDegrees(const vector3d<T> &rotation);
//! Get the rotation, as set by setRotation() when you already know the scale used to create the matrix
@ -236,12 +240,21 @@ public:
[[nodiscard]] vector3d<T> rotateAndScaleVect(const vector3d<T> &vect) const;
//! Transforms the vector by this matrix
/** This operation is performed as if the vector was 4d with the 4th component =1 */
void transformVect(vector3df &vect) const;
/** This operation is performed as if the vector was 4d with the 4th component = 1 */
[[nodiscard]] vector3d<T> transformVect(const vector3d<T> &v) const;
//! Transforms the vector by this matrix
/** This operation is performed as if the vector was 4d with the 4th component = 1 */
void transformVect(vector3d<T> &vect) const {
const vector3d<T> &v = vect;
vect = transformVect(v);
}
//! Transforms input vector by this matrix and stores result in output vector
/** This operation is performed as if the vector was 4d with the 4th component =1 */
void transformVect(vector3df &out, const vector3df &in) const;
/** This operation is performed as if the vector was 4d with the 4th component = 1 */
void transformVect(vector3d<T> &out, const vector3d<T> &in) const {
out = transformVect(in);
}
//! An alternate transform vector method, writing into an array of 4 floats
/** This operation is performed as if the vector was 4d with the 4th component =1.
@ -1099,25 +1112,13 @@ inline vector3d<T> CMatrix4<T>::scaleThenInvRotVect(const vector3d<T> &v) const
}
template <class T>
inline void CMatrix4<T>::transformVect(vector3df &vect) const
inline vector3d<T> CMatrix4<T>::transformVect(const vector3d<T> &v) const
{
T vector[3];
vector[0] = vect.X * M[0] + vect.Y * M[4] + vect.Z * M[8] + M[12];
vector[1] = vect.X * M[1] + vect.Y * M[5] + vect.Z * M[9] + M[13];
vector[2] = vect.X * M[2] + vect.Y * M[6] + vect.Z * M[10] + M[14];
vect.X = static_cast<f32>(vector[0]);
vect.Y = static_cast<f32>(vector[1]);
vect.Z = static_cast<f32>(vector[2]);
}
template <class T>
inline void CMatrix4<T>::transformVect(vector3df &out, const vector3df &in) const
{
out.X = in.X * M[0] + in.Y * M[4] + in.Z * M[8] + M[12];
out.Y = in.X * M[1] + in.Y * M[5] + in.Z * M[9] + M[13];
out.Z = in.X * M[2] + in.Y * M[6] + in.Z * M[10] + M[14];
return {
v.X * M[0] + v.Y * M[4] + v.Z * M[8] + M[12],
v.X * M[1] + v.Y * M[5] + v.Z * M[9] + M[13],
v.X * M[2] + v.Y * M[6] + v.Z * M[10] + M[14],
};
}
template <class T>