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Fixed Basis -> Quat conversions, added a few safety checks.
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Fixes #19027.
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Also even out Basis and Quat APIs a little.
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Also ensure that get_scale doesn't arbitrarlity change the signs of scales, ensuring that the combination of get_rotation and get_scale gives the correct basis.
Added various missing functions and constructors.
Should close #17968.
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Using `misc/scripts/fix_headers.py` on all Godot files.
Some missing header guards were added, and the header inclusion order
was fixed in the Bullet module.
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Restore the behavior of Spatial rotations recently changed in c1153f5.
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That change was borne out of a confusion regarding the meaning of "local" in #14569.
Affine transformations in Spatial simply correspond to affine operations of its Transform. Such operations take place in a coordinate system that is defined by the parent Spatial. When there is no parent, they correspond to operations in the global coordinate system.
This coordinate system, which is relative to the parent, has been referred to as the local coordinate system in the docs so far, but this sloppy language has apparently confused some users, making them think that the local coordinate system refers to the one whose axes are "painted" on the Spatial node itself.
To avoid such conceptual conflations and misunderstandings in the future, the parent-relative local system is now referred to as "parent-local", and the object-relative local system is called "object-local" in the docs.
This commit adds the functionality "requested" in #14569, not by changing how rotate/scale/translate works, but by adding new rotate_object_local, scale_object_local and translate_object_local functions. Also, for completeness, there is now global_scale.
This commit also updates another part of the docs regarding the rotation property of Spatial, which also leads to confusion among some users.
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Happy new year to the wonderful Godot community!
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#14569
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Fix inertia tensor update & Generic6DOFJoint & Simplify Basis::get_euler()
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-Fixed get_scale functions (and added set_scale) to make it more coherent when decomposing and composing (fixes bugs in transform interpolation)
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This new decomposition splits the basis into a rotation-reflection matrix and a positive scaling matrix, which is required for physics calculations.
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Those functions were added in #8277 but they did more harm than good. They're subtle, don't do what people think and requires users to understand the non-uniqueness of polar decomposition. They ended up confusing people.
Until we store additional information enough to make a unique polar decomposition, these functions shouldn't be a part of Basis.
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Fixes #10352.
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As discussed in issues #1479 and #9782, choosing the up axis (which is Y in Godot) as the axis of the last (or first) rotation is helpful in practical use cases.
This also aligns Godot's convention with Unity, helping with a smoother transition for people who are used to working with Unity (issue #9905).
Internally, both XYZ and YXZ functions are kept, for potential future applications.
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increase is enormous.
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Added various functions basic math classes. Also enabled math checks …
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for debug builds.
Added set_scale, set_rotation_euler, set_rotation_axis_angle. Addresses #2565 directly.
Added an euler angle constructor for Basis in GDScript and also exposed is_normalized for vectors and quaternions.
Various other changes mostly cosmetic in nature.
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Explicitly documented that Transform.basis is not necessarily an orth…
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matrix.
Also added a check that in axis-angle rotations, axis is a normalized vector, and modified the docs accordingly.
Fixes #8113.
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From https://github.com/lucasdemarchi/codespell
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I can show you the code
Pretty, with proper whitespace
Tell me, coder, now when did
You last write readable code?
I can open your eyes
Make you see your bad indent
Force you to respect the style
The core devs agreed upon
A whole new world
A new fantastic code format
A de facto standard
With some sugar
Enforced with clang-format
A whole new world
A dazzling style we all dreamed of
And when we read it through
It's crystal clear
That now we're in a whole new world of code
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than float or double in generic functions (core/math) whenever possible.
Also inlined some more math functions.
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Matrix32 -> Transform2D
Matrix3 -> Basis
AABB -> Rect3
RawArray -> PoolByteArray
IntArray -> PoolIntArray
FloatArray -> PoolFloatArray
Vector2Array -> PoolVector2Array
Vector3Array -> PoolVector3Array
ColorArray -> PoolColorArray
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Fixed inertia tensor computation and center of mass
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Transform.
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).
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Also fixes Euler angles (XYZ convention, which is used as default by Blender).
Furthermore, functions which expect a rotation matrix will now give an error simply, rather than trying to orthonormalize such matrices. The documentation for such functions has be updated accordingly.
This commit breaks code using 3D rotations, and is a part of the breaking changes in 2.1 -> 3.0 transition. The code affected within Godot code base is fixed in this commit.
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That year should bring the long-awaited OpenGL ES 3.0 compatible renderer
with state-of-the-art rendering techniques tuned to work as low as middle
end handheld devices - without compromising with the possibilities given
for higher end desktop games of course. Great times ahead for the Godot
community and the gamers that will play our games!
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