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Fix Basis::get_euler incorrectly simplifying rotations in some cases.

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This commit is contained in:
Adam 2025-01-28 21:41:31 -06:00
parent a013481b09
commit d56cbd374b
2 changed files with 29 additions and 18 deletions
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29
core/math/basis.cpp
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@ -455,6 +455,11 @@ void Basis::get_rotation_axis_angle_local(Vector3 &p_axis, real_t &p_angle) cons
}
Vector3 Basis::get_euler(EulerOrder p_order) const {
// This epsilon value results in angles within a +/- 0.04 degree range being simplified/truncated.
// Based on testing, this is the largest the epsilon can be without the angle truncation becoming
// visually noticeable.
const real_t epsilon = 0.00000025;
switch (p_order) {
case EulerOrder::XYZ: {
// Euler angles in XYZ convention.
@ -466,8 +471,8 @@ Vector3 Basis::get_euler(EulerOrder p_order) const {
Vector3 euler;
real_t sy = rows[0][2];
if (sy < (1.0f - (real_t)CMP_EPSILON)) {
if (sy > -(1.0f - (real_t)CMP_EPSILON)) {
if (sy < (1.0f - epsilon)) {
if (sy > -(1.0f - epsilon)) {
// is this a pure Y rotation?
if (rows[1][0] == 0 && rows[0][1] == 0 && rows[1][2] == 0 && rows[2][1] == 0 && rows[1][1] == 1) {
// return the simplest form (human friendlier in editor and scripts)
@ -501,8 +506,8 @@ Vector3 Basis::get_euler(EulerOrder p_order) const {
Vector3 euler;
real_t sz = rows[0][1];
if (sz < (1.0f - (real_t)CMP_EPSILON)) {
if (sz > -(1.0f - (real_t)CMP_EPSILON)) {
if (sz < (1.0f - epsilon)) {
if (sz > -(1.0f - epsilon)) {
euler.x = Math::atan2(rows[2][1], rows[1][1]);
euler.y = Math::atan2(rows[0][2], rows[0][0]);
euler.z = Math::asin(-sz);
@ -532,8 +537,8 @@ Vector3 Basis::get_euler(EulerOrder p_order) const {
real_t m12 = rows[1][2];
if (m12 < (1 - (real_t)CMP_EPSILON)) {
if (m12 > -(1 - (real_t)CMP_EPSILON)) {
if (m12 < (1 - epsilon)) {
if (m12 > -(1 - epsilon)) {
// is this a pure X rotation?
if (rows[1][0] == 0 && rows[0][1] == 0 && rows[0][2] == 0 && rows[2][0] == 0 && rows[0][0] == 1) {
// return the simplest form (human friendlier in editor and scripts)
@ -568,8 +573,8 @@ Vector3 Basis::get_euler(EulerOrder p_order) const {
Vector3 euler;
real_t sz = rows[1][0];
if (sz < (1.0f - (real_t)CMP_EPSILON)) {
if (sz > -(1.0f - (real_t)CMP_EPSILON)) {
if (sz < (1.0f - epsilon)) {
if (sz > -(1.0f - epsilon)) {
euler.x = Math::atan2(-rows[1][2], rows[1][1]);
euler.y = Math::atan2(-rows[2][0], rows[0][0]);
euler.z = Math::asin(sz);
@ -596,8 +601,8 @@ Vector3 Basis::get_euler(EulerOrder p_order) const {
// -cx*sy sx cx*cy
Vector3 euler;
real_t sx = rows[2][1];
if (sx < (1.0f - (real_t)CMP_EPSILON)) {
if (sx > -(1.0f - (real_t)CMP_EPSILON)) {
if (sx < (1.0f - epsilon)) {
if (sx > -(1.0f - epsilon)) {
euler.x = Math::asin(sx);
euler.y = Math::atan2(-rows[2][0], rows[2][2]);
euler.z = Math::atan2(-rows[0][1], rows[1][1]);
@ -624,8 +629,8 @@ Vector3 Basis::get_euler(EulerOrder p_order) const {
// -sy cy*sx cy*cx
Vector3 euler;
real_t sy = rows[2][0];
if (sy < (1.0f - (real_t)CMP_EPSILON)) {
if (sy > -(1.0f - (real_t)CMP_EPSILON)) {
if (sy < (1.0f - epsilon)) {
if (sy > -(1.0f - epsilon)) {
euler.x = Math::atan2(rows[2][1], rows[2][2]);
euler.y = Math::asin(-sy);
euler.z = Math::atan2(rows[1][0], rows[0][0]);

18
tests/core/math/test_basis.h
View File

@ -93,9 +93,9 @@ void test_rotation(Vector3 deg_original_euler, EulerOrder rot_order) {
Basis res = to_rotation.inverse() * rotation_from_computed_euler;
CHECK_MESSAGE((res.get_column(0) - Vector3(1.0, 0.0, 0.0)).length() <= 0.1, vformat("Fail due to X %s\n", String(res.get_column(0))));
CHECK_MESSAGE((res.get_column(1) - Vector3(0.0, 1.0, 0.0)).length() <= 0.1, vformat("Fail due to Y %s\n", String(res.get_column(1))));
CHECK_MESSAGE((res.get_column(2) - Vector3(0.0, 0.0, 1.0)).length() <= 0.1, vformat("Fail due to Z %s\n", String(res.get_column(2))));
CHECK_MESSAGE((res.get_column(0) - Vector3(1.0, 0.0, 0.0)).length() <= 0.001, vformat("Fail due to X %s\n", String(res.get_column(0))));
CHECK_MESSAGE((res.get_column(1) - Vector3(0.0, 1.0, 0.0)).length() <= 0.001, vformat("Fail due to Y %s\n", String(res.get_column(1))));
CHECK_MESSAGE((res.get_column(2) - Vector3(0.0, 0.0, 1.0)).length() <= 0.001, vformat("Fail due to Z %s\n", String(res.get_column(2))));
// Double check `to_rotation` decomposing with XYZ rotation order.
const Vector3 euler_xyz_from_rotation = to_rotation.get_euler(EulerOrder::XYZ);
@ -103,9 +103,9 @@ void test_rotation(Vector3 deg_original_euler, EulerOrder rot_order) {
res = to_rotation.inverse() * rotation_from_xyz_computed_euler;
CHECK_MESSAGE((res.get_column(0) - Vector3(1.0, 0.0, 0.0)).length() <= 0.1, vformat("Double check with XYZ rot order failed, due to X %s\n", String(res.get_column(0))));
CHECK_MESSAGE((res.get_column(1) - Vector3(0.0, 1.0, 0.0)).length() <= 0.1, vformat("Double check with XYZ rot order failed, due to Y %s\n", String(res.get_column(1))));
CHECK_MESSAGE((res.get_column(2) - Vector3(0.0, 0.0, 1.0)).length() <= 0.1, vformat("Double check with XYZ rot order failed, due to Z %s\n", String(res.get_column(2))));
CHECK_MESSAGE((res.get_column(0) - Vector3(1.0, 0.0, 0.0)).length() <= 0.001, vformat("Double check with XYZ rot order failed, due to X %s\n", String(res.get_column(0))));
CHECK_MESSAGE((res.get_column(1) - Vector3(0.0, 1.0, 0.0)).length() <= 0.001, vformat("Double check with XYZ rot order failed, due to Y %s\n", String(res.get_column(1))));
CHECK_MESSAGE((res.get_column(2) - Vector3(0.0, 0.0, 1.0)).length() <= 0.001, vformat("Double check with XYZ rot order failed, due to Z %s\n", String(res.get_column(2))));
INFO(vformat("Rotation order: %s\n.", get_rot_order_name(rot_order)));
INFO(vformat("Original Rotation: %s\n", String(deg_original_euler)));
@ -176,6 +176,12 @@ TEST_CASE("[Basis] Euler conversions") {
vectors_to_test.push_back(Vector3(120.0, -150.0, -130.0));
vectors_to_test.push_back(Vector3(120.0, 150.0, -130.0));
vectors_to_test.push_back(Vector3(120.0, 150.0, 130.0));
vectors_to_test.push_back(Vector3(89.9, 0.0, 0.0));
vectors_to_test.push_back(Vector3(-89.9, 0.0, 0.0));
vectors_to_test.push_back(Vector3(0.0, 89.9, 0.0));
vectors_to_test.push_back(Vector3(0.0, -89.9, 0.0));
vectors_to_test.push_back(Vector3(0.0, 0.0, 89.9));
vectors_to_test.push_back(Vector3(0.0, 0.0, -89.9));
for (int h = 0; h < euler_order_to_test.size(); h += 1) {
for (int i = 0; i < vectors_to_test.size(); i += 1) {