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Refactored Node3D rotation modes #54084

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Oct 25, 2021
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Refactored Node3D rotation modes #54084

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508 changes: 210 additions & 298 deletions core/math/basis.cpp
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42 changes: 17 additions & 25 deletions core/math/basis.h
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Expand Up @@ -85,40 +85,35 @@ class Basis {
void rotate(const Quaternion &p_quaternion);
Basis rotated(const Quaternion &p_quaternion) const;

Vector3 get_rotation_euler() const;
enum EulerOrder {
EULER_ORDER_XYZ,
EULER_ORDER_XZY,
EULER_ORDER_YXZ,
EULER_ORDER_YZX,
EULER_ORDER_ZXY,
EULER_ORDER_ZYX
};

Vector3 get_euler_normalized(EulerOrder p_order = EULER_ORDER_YXZ) const;
void get_rotation_axis_angle(Vector3 &p_axis, real_t &p_angle) const;
void get_rotation_axis_angle_local(Vector3 &p_axis, real_t &p_angle) const;
Quaternion get_rotation_quaternion() const;
Vector3 get_rotation() const { return get_rotation_euler(); };

void rotate_to_align(Vector3 p_start_direction, Vector3 p_end_direction);

Vector3 rotref_posscale_decomposition(Basis &rotref) const;

Vector3 get_euler_xyz() const;
void set_euler_xyz(const Vector3 &p_euler);

Vector3 get_euler_xzy() const;
void set_euler_xzy(const Vector3 &p_euler);

Vector3 get_euler_yzx() const;
void set_euler_yzx(const Vector3 &p_euler);

Vector3 get_euler_yxz() const;
void set_euler_yxz(const Vector3 &p_euler);

Vector3 get_euler_zxy() const;
void set_euler_zxy(const Vector3 &p_euler);

Vector3 get_euler_zyx() const;
void set_euler_zyx(const Vector3 &p_euler);
Vector3 get_euler(EulerOrder p_order = EULER_ORDER_YXZ) const;
void set_euler(const Vector3 &p_euler, EulerOrder p_order = EULER_ORDER_YXZ);
static Basis from_euler(const Vector3 &p_euler, EulerOrder p_order = EULER_ORDER_YXZ) {
Basis b;
b.set_euler(p_euler, p_order);
return b;
}

Quaternion get_quaternion() const;
void set_quaternion(const Quaternion &p_quaternion);

Vector3 get_euler() const { return get_euler_yxz(); }
void set_euler(const Vector3 &p_euler) { set_euler_yxz(p_euler); }

void get_axis_angle(Vector3 &r_axis, real_t &r_angle) const;
void set_axis_angle(const Vector3 &p_axis, real_t p_phi);

Expand Down Expand Up @@ -250,9 +245,6 @@ class Basis {
Basis(const Quaternion &p_quaternion) { set_quaternion(p_quaternion); };
Basis(const Quaternion &p_quaternion, const Vector3 &p_scale) { set_quaternion_scale(p_quaternion, p_scale); }

Basis(const Vector3 &p_euler) { set_euler(p_euler); }
Basis(const Vector3 &p_euler, const Vector3 &p_scale) { set_euler_scale(p_euler, p_scale); }

Basis(const Vector3 &p_axis, real_t p_phi) { set_axis_angle(p_axis, p_phi); }
Basis(const Vector3 &p_axis, real_t p_phi, const Vector3 &p_scale) { set_axis_angle_scale(p_axis, p_phi, p_scale); }
static Basis from_scale(const Vector3 &p_scale);
Expand Down
4 changes: 2 additions & 2 deletions core/math/quaternion.cpp
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Expand Up @@ -44,7 +44,7 @@ real_t Quaternion::angle_to(const Quaternion &p_to) const {
// This implementation uses XYZ convention (Z is the first rotation).
Vector3 Quaternion::get_euler_xyz() const {
Basis m(*this);
return m.get_euler_xyz();
return m.get_euler(Basis::EULER_ORDER_XYZ);
}

// get_euler_yxz returns a vector containing the Euler angles in the format
Expand All @@ -56,7 +56,7 @@ Vector3 Quaternion::get_euler_yxz() const {
ERR_FAIL_COND_V_MSG(!is_normalized(), Vector3(0, 0, 0), "The quaternion must be normalized.");
#endif
Basis m(*this);
return m.get_euler_yxz();
return m.get_euler(Basis::EULER_ORDER_YXZ);
}

void Quaternion::operator*=(const Quaternion &p_q) {
Expand Down
1 change: 1 addition & 0 deletions core/variant/binder_common.h
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Expand Up @@ -88,6 +88,7 @@ struct VariantCaster<const T &> {
VARIANT_ENUM_CAST(Object::ConnectFlags);

VARIANT_ENUM_CAST(Vector3::Axis);
VARIANT_ENUM_CAST(Basis::EulerOrder);

VARIANT_ENUM_CAST(Error);
VARIANT_ENUM_CAST(Side);
Expand Down
4 changes: 0 additions & 4 deletions core/variant/variant.cpp
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Expand Up @@ -313,7 +313,6 @@ bool Variant::can_convert(Variant::Type p_type_from, Variant::Type p_type_to) {
case BASIS: {
static const Type valid[] = {
QUATERNION,
VECTOR3,
NIL
};

Expand Down Expand Up @@ -620,7 +619,6 @@ bool Variant::can_convert_strict(Variant::Type p_type_from, Variant::Type p_type
case BASIS: {
static const Type valid[] = {
QUATERNION,
VECTOR3,
NIL
};

Expand Down Expand Up @@ -1889,8 +1887,6 @@ Variant::operator Basis() const {
return *_data._basis;
} else if (type == QUATERNION) {
return *reinterpret_cast<const Quaternion *>(_data._mem);
} else if (type == VECTOR3) {
return Basis(*reinterpret_cast<const Vector3 *>(_data._mem));
} else if (type == TRANSFORM3D) { // unexposed in Variant::can_convert?
return _data._transform3d->basis;
} else {
Expand Down
10 changes: 9 additions & 1 deletion core/variant/variant_call.cpp
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Expand Up @@ -1731,7 +1731,7 @@ static void _register_variant_builtin_methods() {
bind_methodv(Basis, rotated, static_cast<Basis (Basis::*)(const Vector3 &, real_t) const>(&Basis::rotated), sarray("axis", "phi"), varray());
bind_method(Basis, scaled, sarray("scale"), varray());
bind_method(Basis, get_scale, sarray(), varray());
bind_method(Basis, get_euler, sarray(), varray());
bind_method(Basis, get_euler, sarray("order"), varray(Basis::EULER_ORDER_YXZ));
bind_method(Basis, tdotx, sarray("with"), varray());
bind_method(Basis, tdoty, sarray("with"), varray());
bind_method(Basis, tdotz, sarray("with"), varray());
Expand All @@ -1741,6 +1741,7 @@ static void _register_variant_builtin_methods() {
bind_method(Basis, get_rotation_quaternion, sarray(), varray());
bind_static_method(Basis, looking_at, sarray("target", "up"), varray(Vector3(0, 1, 0)));
bind_static_method(Basis, from_scale, sarray("scale"), varray());
bind_static_method(Basis, from_euler, sarray("euler", "order"), varray(Basis::EULER_ORDER_YXZ));

/* AABB */

Expand Down Expand Up @@ -2109,6 +2110,13 @@ static void _register_variant_builtin_methods() {
_VariantCall::add_variant_constant(Variant::VECTOR2I, "UP", Vector2i(0, -1));
_VariantCall::add_variant_constant(Variant::VECTOR2I, "DOWN", Vector2i(0, 1));

_VariantCall::add_constant(Variant::BASIS, "EULER_ORDER_XYZ", Basis::EULER_ORDER_XYZ);
_VariantCall::add_constant(Variant::BASIS, "EULER_ORDER_XZY", Basis::EULER_ORDER_XZY);
_VariantCall::add_constant(Variant::BASIS, "EULER_ORDER_YXZ", Basis::EULER_ORDER_YXZ);
_VariantCall::add_constant(Variant::BASIS, "EULER_ORDER_YZX", Basis::EULER_ORDER_YZX);
_VariantCall::add_constant(Variant::BASIS, "EULER_ORDER_ZXY", Basis::EULER_ORDER_ZXY);
_VariantCall::add_constant(Variant::BASIS, "EULER_ORDER_ZYX", Basis::EULER_ORDER_ZYX);

_VariantCall::add_variant_constant(Variant::TRANSFORM2D, "IDENTITY", Transform2D());
_VariantCall::add_variant_constant(Variant::TRANSFORM2D, "FLIP_X", Transform2D(-1, 0, 0, 1, 0, 0));
_VariantCall::add_variant_constant(Variant::TRANSFORM2D, "FLIP_Y", Transform2D(1, 0, 0, -1, 0, 0));
Expand Down
3 changes: 1 addition & 2 deletions core/variant/variant_construct.cpp
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Expand Up @@ -128,10 +128,10 @@ void Variant::_register_variant_constructors() {
add_constructor<VariantConstructNoArgs<Quaternion>>(sarray());
add_constructor<VariantConstructor<Quaternion, Quaternion>>(sarray("from"));
add_constructor<VariantConstructor<Quaternion, Basis>>(sarray("from"));
add_constructor<VariantConstructor<Quaternion, Vector3>>(sarray("euler"));
add_constructor<VariantConstructor<Quaternion, Vector3, double>>(sarray("axis", "angle"));
add_constructor<VariantConstructor<Quaternion, Vector3, Vector3>>(sarray("arc_from", "arc_to"));
add_constructor<VariantConstructor<Quaternion, double, double, double, double>>(sarray("x", "y", "z", "w"));
add_constructor<VariantConstructor<Quaternion, Vector3>>(sarray("euler_yxz"));

add_constructor<VariantConstructNoArgs<::AABB>>(sarray());
add_constructor<VariantConstructor<::AABB, ::AABB>>(sarray("from"));
Expand All @@ -140,7 +140,6 @@ void Variant::_register_variant_constructors() {
add_constructor<VariantConstructNoArgs<Basis>>(sarray());
add_constructor<VariantConstructor<Basis, Basis>>(sarray("from"));
add_constructor<VariantConstructor<Basis, Quaternion>>(sarray("from"));
add_constructor<VariantConstructor<Basis, Vector3>>(sarray("euler"));
add_constructor<VariantConstructor<Basis, Vector3, double>>(sarray("axis", "phi"));
add_constructor<VariantConstructor<Basis, Vector3, Vector3, Vector3>>(sarray("x_axis", "y_axis", "z_axis"));

Expand Down
6 changes: 6 additions & 0 deletions core/variant/variant_internal.h
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Expand Up @@ -756,6 +756,12 @@ VARIANT_ACCESSOR_NUMBER(char32_t)
VARIANT_ACCESSOR_NUMBER(Error)
VARIANT_ACCESSOR_NUMBER(Side)

template <>
struct VariantInternalAccessor<Basis::EulerOrder> {
static _FORCE_INLINE_ Basis::EulerOrder get(const Variant *v) { return Basis::EulerOrder(*VariantInternal::get_int(v)); }
static _FORCE_INLINE_ void set(Variant *v, Basis::EulerOrder p_value) { *VariantInternal::get_int(v) = p_value; }
};

template <>
struct VariantInternalAccessor<ObjectID> {
static _FORCE_INLINE_ ObjectID get(const Variant *v) { return ObjectID(*VariantInternal::get_int(v)); }
Expand Down
28 changes: 20 additions & 8 deletions doc/classes/Basis.xml
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Expand Up @@ -40,14 +40,6 @@
Constructs a pure rotation basis matrix, rotated around the given [code]axis[/code] by [code]phi[/code], in radians. The axis must be a normalized vector.
</description>
</method>
<method name="Basis" qualifiers="constructor">
<return type="Basis" />
<argument index="0" name="euler" type="Vector3" />
<description>
Constructs a pure rotation basis matrix from the given Euler angles (in the YXZ convention: when *composing*, first Y, then X, and Z last), given in the vector format as (X angle, Y angle, Z angle).
Consider using the [Quaternion] constructor instead, which uses a quaternion instead of Euler angles.
</description>
</method>
<method name="Basis" qualifiers="constructor">
<return type="Basis" />
<argument index="0" name="from" type="Quaternion" />
Expand All @@ -71,6 +63,13 @@
A negative determinant means the basis has a negative scale. A zero determinant means the basis isn't invertible, and is usually considered invalid.
</description>
</method>
<method name="from_euler" qualifiers="static">
<return type="Basis" />
<argument index="0" name="euler" type="Vector3" />
<argument index="1" name="order" type="int" default="2" />
<description>
</description>
</method>
<method name="from_scale" qualifiers="static">
<return type="Basis" />
<argument index="0" name="scale" type="Vector3" />
Expand All @@ -80,6 +79,7 @@
</method>
<method name="get_euler" qualifiers="const">
<return type="Vector3" />
<argument index="0" name="order" type="int" default="2" />
<description>
Returns the basis's rotation in the form of Euler angles (in the YXZ convention: when decomposing, first Z, then X, and Y last). The returned vector contains the rotation angles in the format (X angle, Y angle, Z angle).
Consider using the [method get_rotation_quaternion] method instead, which returns a [Quaternion] quaternion instead of Euler angles.
Expand Down Expand Up @@ -248,6 +248,18 @@
</member>
</members>
<constants>
<constant name="EULER_ORDER_XYZ" value="0">
</constant>
<constant name="EULER_ORDER_XZY" value="1">
</constant>
<constant name="EULER_ORDER_YXZ" value="2">
</constant>
<constant name="EULER_ORDER_YZX" value="3">
</constant>
<constant name="EULER_ORDER_ZXY" value="4">
</constant>
<constant name="EULER_ORDER_ZYX" value="5">
</constant>
<constant name="IDENTITY" value="Basis(1, 0, 0, 0, 1, 0, 0, 0, 1)">
The identity basis, with no rotation or scaling applied.
This is identical to calling [code]Basis()[/code] without any parameters. This constant can be used to make your code clearer, and for consistency with C#.
Expand Down
32 changes: 31 additions & 1 deletion doc/classes/Node3D.xml
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Expand Up @@ -264,16 +264,28 @@
</method>
</methods>
<members>
<member name="basis" type="Basis" setter="set_basis" getter="get_basis">
Direct access to the 3x3 basis of the [Transform3D] property.
</member>
<member name="global_transform" type="Transform3D" setter="set_global_transform" getter="get_global_transform">
World3D space (global) [Transform3D] of this node.
</member>
<member name="position" type="Vector3" setter="set_position" getter="get_position" default="Vector3(0, 0, 0)">
Local position or translation of this node relative to the parent. This is equivalent to [code]transform.origin[/code].
</member>
<member name="quaternion" type="Quaternion" setter="set_quaternion" getter="get_quaternion">
Access to the node rotation as a [Quaternion]. This property is ideal for tweening complex rotations.
</member>
<member name="rotation" type="Vector3" setter="set_rotation" getter="get_rotation" default="Vector3(0, 0, 0)">
Rotation part of the local transformation in radians, specified in terms of YXZ-Euler angles in the format (X angle, Y angle, Z angle).
Rotation part of the local transformation in radians, specified in terms of Euler angles. The angles construct a rotaton in the order specified by the [member rotation_order] property.
[b]Note:[/b] In the mathematical sense, rotation is a matrix and not a vector. The three Euler angles, which are the three independent parameters of the Euler-angle parametrization of the rotation matrix, are stored in a [Vector3] data structure not because the rotation is a vector, but only because [Vector3] exists as a convenient data-structure to store 3 floating-point numbers. Therefore, applying affine operations on the rotation "vector" is not meaningful.
</member>
<member name="rotation_edit_mode" type="int" setter="set_rotation_edit_mode" getter="get_rotation_edit_mode" enum="Node3D.RotationEditMode" default="0">
Specify how rotation (and scale) will be presented in the editor.
</member>
<member name="rotation_order" type="int" setter="set_rotation_order" getter="get_rotation_order" enum="Node3D.RotationOrder" default="2">
Specify the axis rotation order of the [member rotation] property. The final orientation is constructed by rotating the Euler angles in the order specified by this property.
</member>
<member name="scale" type="Vector3" setter="set_scale" getter="get_scale" default="Vector3(1, 1, 1)">
Scale part of the local transformation.
</member>
Expand Down Expand Up @@ -311,5 +323,23 @@
<constant name="NOTIFICATION_VISIBILITY_CHANGED" value="43">
Node3D nodes receives this notification when their visibility changes.
</constant>
<constant name="ROTATION_EDIT_MODE_EULER" value="0" enum="RotationEditMode">
</constant>
<constant name="ROTATION_EDIT_MODE_QUATERNION" value="1" enum="RotationEditMode">
</constant>
<constant name="ROTATION_EDIT_MODE_BASIS" value="2" enum="RotationEditMode">
</constant>
<constant name="ROTATION_ORDER_XYZ" value="0" enum="RotationOrder">
</constant>
<constant name="ROTATION_ORDER_XZY" value="1" enum="RotationOrder">
</constant>
<constant name="ROTATION_ORDER_YXZ" value="2" enum="RotationOrder">
</constant>
<constant name="ROTATION_ORDER_YZX" value="3" enum="RotationOrder">
</constant>
<constant name="ROTATION_ORDER_ZXY" value="4" enum="RotationOrder">
</constant>
<constant name="ROTATION_ORDER_ZYX" value="5" enum="RotationOrder">
</constant>
</constants>
</class>
3 changes: 1 addition & 2 deletions doc/classes/Quaternion.xml
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Expand Up @@ -43,9 +43,8 @@
</method>
<method name="Quaternion" qualifiers="constructor">
<return type="Quaternion" />
<argument index="0" name="euler" type="Vector3" />
<argument index="0" name="euler_yxz" type="Vector3" />
<description>
Constructs a quaternion that will perform a rotation specified by Euler angles (in the YXZ convention: when decomposing, first Z, then X, and Y last), given in the vector format as (X angle, Y angle, Z angle).
</description>
</method>
<method name="Quaternion" qualifiers="constructor">
Expand Down
2 changes: 1 addition & 1 deletion editor/plugins/node_3d_editor_plugin.cpp
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Expand Up @@ -3253,7 +3253,7 @@ void Node3DEditorViewport::_menu_option(int p_option) {
continue;
}

undo_redo->add_do_method(sp, "set_rotation", camera_transform.basis.get_rotation());
undo_redo->add_do_method(sp, "set_rotation", camera_transform.basis.get_euler_normalized());
undo_redo->add_undo_method(sp, "set_rotation", sp->get_rotation());
}
undo_redo->commit_action();
Expand Down
1 change: 1 addition & 0 deletions modules/csg/csg_shape.cpp
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Expand Up @@ -576,6 +576,7 @@ void CSGShape3D::_validate_property(PropertyInfo &property) const {
} else if (is_collision_prefixed && !bool(get("use_collision"))) {
property.usage = PROPERTY_USAGE_NOEDITOR | PROPERTY_USAGE_INTERNAL;
}
GeometryInstance3D::_validate_property(property);
}

Array CSGShape3D::get_meshes() const {
Expand Down
24 changes: 12 additions & 12 deletions modules/fbx/tools/import_utils.cpp
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Expand Up @@ -45,27 +45,27 @@ Basis ImportUtils::EulerToBasis(FBXDocParser::Model::RotOrder mode, const Vector
// by simply invert its order: https://www.cs.utexas.edu/~theshark/courses/cs354/lectures/cs354-14.pdf
switch (mode) {
case FBXDocParser::Model::RotOrder_EulerXYZ:
ret.set_euler_zyx(p_rotation);
ret.set_euler(p_rotation, Basis::EULER_ORDER_XYZ);
break;

case FBXDocParser::Model::RotOrder_EulerXZY:
ret.set_euler_yzx(p_rotation);
ret.set_euler(p_rotation, Basis::EULER_ORDER_XZY);
break;

case FBXDocParser::Model::RotOrder_EulerYZX:
ret.set_euler_xzy(p_rotation);
ret.set_euler(p_rotation, Basis::EULER_ORDER_YZX);
break;

case FBXDocParser::Model::RotOrder_EulerYXZ:
ret.set_euler_zxy(p_rotation);
ret.set_euler(p_rotation, Basis::EULER_ORDER_YXZ);
break;

case FBXDocParser::Model::RotOrder_EulerZXY:
ret.set_euler_yxz(p_rotation);
ret.set_euler(p_rotation, Basis::EULER_ORDER_ZXY);
break;

case FBXDocParser::Model::RotOrder_EulerZYX:
ret.set_euler_xyz(p_rotation);
ret.set_euler(p_rotation, Basis::EULER_ORDER_ZYX);
break;

case FBXDocParser::Model::RotOrder_SphericXYZ:
Expand All @@ -89,22 +89,22 @@ Vector3 ImportUtils::BasisToEuler(FBXDocParser::Model::RotOrder mode, const Basi
// by simply invert its order: https://www.cs.utexas.edu/~theshark/courses/cs354/lectures/cs354-14.pdf
switch (mode) {
case FBXDocParser::Model::RotOrder_EulerXYZ:
return p_rotation.get_euler_zyx();
return p_rotation.get_euler(Basis::EULER_ORDER_XYZ);

case FBXDocParser::Model::RotOrder_EulerXZY:
return p_rotation.get_euler_yzx();
return p_rotation.get_euler(Basis::EULER_ORDER_XZY);

case FBXDocParser::Model::RotOrder_EulerYZX:
return p_rotation.get_euler_xzy();
return p_rotation.get_euler(Basis::EULER_ORDER_YZX);

case FBXDocParser::Model::RotOrder_EulerYXZ:
return p_rotation.get_euler_zxy();
return p_rotation.get_euler(Basis::EULER_ORDER_YXZ);

case FBXDocParser::Model::RotOrder_EulerZXY:
return p_rotation.get_euler_yxz();
return p_rotation.get_euler(Basis::EULER_ORDER_ZXY);

case FBXDocParser::Model::RotOrder_EulerZYX:
return p_rotation.get_euler_xyz();
return p_rotation.get_euler(Basis::EULER_ORDER_ZYX);

case FBXDocParser::Model::RotOrder_SphericXYZ:
// TODO
Expand Down
2 changes: 1 addition & 1 deletion modules/gdscript/tests/scripts/runtime/features/stringify.gd
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Expand Up @@ -17,7 +17,7 @@ func test():
print(Plane(1, 2, 3, 4))
print(Quaternion(1, 2, 3, 4))
print(AABB(Vector3.ZERO, Vector3.ONE))
print(Basis(Vector3(0, 0, 0)))
print(Basis.from_euler(Vector3(0, 0, 0)))
print(Transform3D.IDENTITY)

print(Color(1, 2, 3, 4))
Expand Down
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