String and math fixes

- Added missing static String constructors
- Implemented String operator for math types
- Added XYZ and YXZ euler angles methods
- Fixed wrong det checks in Basis
- Fixed operator Quat in Basis

include/core/Basis.hpp

@@ -64,9 +64,13 @@ public:
 
 	Vector3 get_scale() const;
 
-	Vector3 get_euler() const;
+	Vector3 get_euler_xyz() const;
+	void set_euler_xyz(const Vector3 &p_euler);
+	Vector3 get_euler_yxz() const;
+	void set_euler_yxz(const Vector3 &p_euler);
 
-	void set_euler(const Vector3& p_euler);
+	inline Vector3 get_euler() const { return get_euler_yxz(); }
+	inline void set_euler(const Vector3& p_euler) { set_euler_yxz(p_euler); }
 
 	// transposed dot products
 	real_t tdotx(const Vector3& v) const;

include/core/Quat.hpp

@@ -23,12 +23,16 @@ public:
 
 	Quat inverse() const;
 
-	void set_euler(const Vector3& p_euler);
+	void set_euler_xyz(const Vector3& p_euler);
+	Vector3 get_euler_xyz() const;
+	void set_euler_yxz(const Vector3& p_euler);
+	Vector3 get_euler_yxz() const;
+
+	inline void set_euler(const Vector3& p_euler) { set_euler_yxz(p_euler); }
+	inline Vector3 get_euler() const { return get_euler_yxz(); }
 
 	real_t dot(const Quat& q) const;
 
-	Vector3 get_euler() const;
-
 	Quat slerp(const Quat& q, const real_t& t) const;
 
 	Quat slerpni(const Quat& q, const real_t& t) const;

include/core/String.hpp

@@ -37,6 +37,14 @@ public:
 
 	~String();
 
+	static String num(double p_num, int p_decimals = -1);
+	static String num_scientific(double p_num);
+	static String num_real(double p_num);
+	static String num_int64(int64_t p_num, int base = 10, bool capitalize_hex = false);
+	static String chr(godot_char_type p_char);
+	static String md5(const uint8_t *p_md5);
+	static String hex_encode_buffer(const uint8_t *p_buffer, int p_len);
+
 	wchar_t &operator[](const int idx);
 	wchar_t operator[](const int idx) const;
 

src/core/AABB.cpp

@@ -633,8 +633,7 @@ void AABB::get_edge(int p_edge,Vector3& r_from,Vector3& r_to) const {
 
 AABB::operator String() const {
 
-	//return String()+position +" - "+ size;
+	return String() + position + " - " + size;
-	return String(); // @Todo
 }
 
 }

src/core/Basis.cpp

@@ -59,7 +59,7 @@ void Basis::invert()
 			elements[0][2] * co[2];
 
 	
-	ERR_FAIL_COND(det != 0);
+	ERR_FAIL_COND(det == 0);
 	
 	real_t s = 1.0/det;
 
@@ -179,8 +179,18 @@ Vector3 Basis::get_scale() const
 	);
 }
 
-Vector3 Basis::get_euler() const
+// get_euler_xyz returns a vector containing the Euler angles in the format
-{
+// (a1,a2,a3), where a3 is the angle of the first rotation, and a1 is the last
+// (following the convention they are commonly defined in the literature).
+//
+// The current implementation uses XYZ convention (Z is the first rotation),
+// so euler.z is the angle of the (first) rotation around Z axis and so on,
+//
+// And thus, assuming the matrix is a rotation matrix, this function returns
+// the angles in the decomposition R = X(a1).Y(a2).Z(a3) where Z(a) rotates
+// around the z-axis by a and so on.
+Vector3 Basis::get_euler_xyz() const {
+
 	// Euler angles in XYZ convention.
 	// See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
 	//
@@ -190,32 +200,41 @@ Vector3 Basis::get_euler() const
 
 	Vector3 euler;
 
-	if (is_rotation() == false)
+	ERR_FAIL_COND_V(is_rotation() == false, euler);
-		return euler;
 
-	euler.y = ::asin(elements[0][2]);
+	real_t sy = elements[0][2];
-	if ( euler.y < Math_PI*0.5) {
+	if (sy < 1.0) {
-		if ( euler.y > -Math_PI*0.5) {
+		if (sy > -1.0) {
-			euler.x = ::atan2(-elements[1][2],elements[2][2]);
+			// is this a pure Y rotation?
-			euler.z = ::atan2(-elements[0][1],elements[0][0]);
+			if (elements[1][0] == 0.0 && elements[0][1] == 0.0 && elements[1][2] == 0 && elements[2][1] == 0 && elements[1][1] == 1) {
-
+				// return the simplest form (human friendlier in editor and scripts)
-		} else {
+				euler.x = 0;
-			real_t r = ::atan2(elements[1][0],elements[1][1]);
+				euler.y = atan2(elements[0][2], elements[0][0]);
-			euler.z = 0.0;
-			euler.x = euler.z - r;
-
-		}
-	} else {
-		real_t r = ::atan2(elements[0][1],elements[1][1]);
 				euler.z = 0;
-		euler.x = r - euler.z;
+			} else {
+				euler.x = ::atan2(-elements[1][2], elements[2][2]);
+				euler.y = ::asin(sy);
+				euler.z = ::atan2(-elements[0][1], elements[0][0]);
+			}
+		} else {
+			euler.x = -::atan2(elements[0][1], elements[1][1]);
+			euler.y = -Math_PI / 2.0;
+			euler.z = 0.0;
+		}
+	} else {
+		euler.x = ::atan2(elements[0][1], elements[1][1]);
+		euler.y = Math_PI / 2.0;
+		euler.z = 0.0;
 	}
-
 	return euler;
 }
 
-void Basis::set_euler(const Vector3& p_euler)
+// set_euler_xyz expects a vector containing the Euler angles in the format
-{
+// (ax,ay,az), where ax is the angle of rotation around x axis,
+// and similar for other axes.
+// The current implementation uses XYZ convention (Z is the first rotation).
+void Basis::set_euler_xyz(const Vector3 &p_euler) {
+
 	real_t c, s;
 
 	c = ::cos(p_euler.x);
@@ -234,6 +253,77 @@ void Basis::set_euler(const Vector3& p_euler)
 	*this = xmat * (ymat * zmat);
 }
 
+// get_euler_yxz returns a vector containing the Euler angles in the YXZ convention,
+// as in first-Z, then-X, last-Y. The angles for X, Y, and Z rotations are returned
+// as the x, y, and z components of a Vector3 respectively.
+Vector3 Basis::get_euler_yxz() const {
+
+	// Euler angles in YXZ convention.
+	// See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
+	//
+	// rot =  cy*cz+sy*sx*sz    cz*sy*sx-cy*sz        cx*sy
+	//        cx*sz             cx*cz                 -sx
+	//        cy*sx*sz-cz*sy    cy*cz*sx+sy*sz        cy*cx
+
+	Vector3 euler;
+
+	ERR_FAIL_COND_V(is_rotation() == false, euler);
+
+	real_t m12 = elements[1][2];
+
+	if (m12 < 1) {
+		if (m12 > -1) {
+			// is this a pure X rotation?
+			if (elements[1][0] == 0 && elements[0][1] == 0 && elements[0][2] == 0 && elements[2][0] == 0 && elements[0][0] == 1) {
+				// return the simplest form (human friendlier in editor and scripts)
+				euler.x = atan2(-m12, elements[1][1]);
+				euler.y = 0;
+				euler.z = 0;
+			} else {
+				euler.x = asin(-m12);
+				euler.y = atan2(elements[0][2], elements[2][2]);
+				euler.z = atan2(elements[1][0], elements[1][1]);
+			}
+		} else { // m12 == -1
+			euler.x = Math_PI * 0.5;
+			euler.y = -atan2(-elements[0][1], elements[0][0]);
+			euler.z = 0;
+		}
+	} else { // m12 == 1
+		euler.x = -Math_PI * 0.5;
+		euler.y = -atan2(-elements[0][1], elements[0][0]);
+		euler.z = 0;
+	}
+
+	return euler;
+}
+
+// set_euler_yxz expects a vector containing the Euler angles in the format
+// (ax,ay,az), where ax is the angle of rotation around x axis,
+// and similar for other axes.
+// The current implementation uses YXZ convention (Z is the first rotation).
+void Basis::set_euler_yxz(const Vector3 &p_euler) {
+
+	real_t c, s;
+
+	c = ::cos(p_euler.x);
+	s = ::sin(p_euler.x);
+	Basis xmat(1.0, 0.0, 0.0, 0.0, c, -s, 0.0, s, c);
+
+	c = ::cos(p_euler.y);
+	s = ::sin(p_euler.y);
+	Basis ymat(c, 0.0, s, 0.0, 1.0, 0.0, -s, 0.0, c);
+
+	c = ::cos(p_euler.z);
+	s = ::sin(p_euler.z);
+	Basis zmat(c, -s, 0.0, s, c, 0.0, 0.0, 0.0, 1.0);
+
+	//optimizer will optimize away all this anyway
+	*this = ymat * xmat * zmat;
+}
+
+
+
 // transposed dot products
 real_t Basis::tdotx(const Vector3& v) const  {
 	return elements[0][0] * v[0] + elements[1][0] * v[1] + elements[2][0] * v[2];
@@ -344,7 +434,16 @@ Basis Basis::operator*(real_t p_val) const {
 Basis::operator String() const
 {
 	String s;
-	// @Todo
+	for (int i = 0; i < 3; i++) {
+
+		for (int j = 0; j < 3; j++) {
+
+			if (i != 0 || j != 0)
+				s += ", ";
+
+			s += String::num(elements[i][j]);
+		}
+	}
 	return s;
 }
 
@@ -398,7 +497,7 @@ Basis Basis::transpose_xform(const Basis& m) const
 
 void Basis::orthonormalize()
 {
-	ERR_FAIL_COND(determinant() != 0);
+	ERR_FAIL_COND(determinant() == 0);
 
 	// Gram-Schmidt Process
 
@@ -617,7 +716,8 @@ Basis::Basis(const Vector3& p_axis, real_t p_phi) {
 }
 
 Basis::operator Quat() const {
-	ERR_FAIL_COND_V(is_rotation() == false, Quat());
+	//commenting this check because precision issues cause it to fail when it shouldn't
+	//ERR_FAIL_COND_V(is_rotation() == false, Quat());
 
 	real_t trace = elements[0][0] + elements[1][1] + elements[2][2];
 	real_t temp[4];

src/core/Color.cpp

@@ -388,7 +388,7 @@ String Color::to_html(bool p_alpha) const
 
 Color::operator String() const
 {
-	return String(); // @Todo
+	return String::num(r) + ", " + String::num(g) + ", " + String::num(b) + ", " + String::num(a);
 }
 
 

src/core/Quat.cpp

@@ -7,28 +7,11 @@
 
 namespace godot {
 
-real_t Quat::length() const
+// set_euler_xyz expects a vector containing the Euler angles in the format
-{
+// (ax,ay,az), where ax is the angle of rotation around x axis,
-	return ::sqrt(length_squared());
+// and similar for other axes.
-}
+// This implementation uses XYZ convention (Z is the first rotation).
-
+void Quat::set_euler_xyz(const Vector3 &p_euler) {
-void Quat::normalize()
-{
-	*this /= length();
-}
-
-Quat Quat::normalized() const
-{
-	return *this / length();
-}
-
-Quat Quat::inverse() const
-{
-	return Quat( -x, -y, -z, w );
-}
-
-void Quat::set_euler(const Vector3& p_euler)
-{
 	real_t half_a1 = p_euler.x * 0.5;
 	real_t half_a2 = p_euler.y * 0.5;
 	real_t half_a3 = p_euler.z * 0.5;
@@ -50,6 +33,70 @@ void Quat::set_euler(const Vector3& p_euler)
 			-sin_a1 * sin_a2 * sin_a3 + cos_a1 * cos_a2 * cos_a3);
 }
 
+// get_euler_xyz returns a vector containing the Euler angles in the format
+// (ax,ay,az), where ax is the angle of rotation around x axis,
+// and similar for other axes.
+// This implementation uses XYZ convention (Z is the first rotation).
+Vector3 Quat::get_euler_xyz() const {
+	Basis m(*this);
+	return m.get_euler_xyz();
+}
+
+// set_euler_yxz expects a vector containing the Euler angles in the format
+// (ax,ay,az), where ax is the angle of rotation around x axis,
+// and similar for other axes.
+// This implementation uses YXZ convention (Z is the first rotation).
+void Quat::set_euler_yxz(const Vector3 &p_euler) {
+	real_t half_a1 = p_euler.y * 0.5;
+	real_t half_a2 = p_euler.x * 0.5;
+	real_t half_a3 = p_euler.z * 0.5;
+
+	// R = Y(a1).X(a2).Z(a3) convention for Euler angles.
+	// Conversion to quaternion as listed in https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/19770024290.pdf (page A-6)
+	// a3 is the angle of the first rotation, following the notation in this reference.
+
+	real_t cos_a1 = ::cos(half_a1);
+	real_t sin_a1 = ::sin(half_a1);
+	real_t cos_a2 = ::cos(half_a2);
+	real_t sin_a2 = ::sin(half_a2);
+	real_t cos_a3 = ::cos(half_a3);
+	real_t sin_a3 = ::sin(half_a3);
+
+	set(sin_a1 * cos_a2 * sin_a3 + cos_a1 * sin_a2 * cos_a3,
+			sin_a1 * cos_a2 * cos_a3 - cos_a1 * sin_a2 * sin_a3,
+			-sin_a1 * sin_a2 * cos_a3 + cos_a1 * sin_a2 * sin_a3,
+			sin_a1 * sin_a2 * sin_a3 + cos_a1 * cos_a2 * cos_a3);
+}
+
+// get_euler_yxz returns a vector containing the Euler angles in the format
+// (ax,ay,az), where ax is the angle of rotation around x axis,
+// and similar for other axes.
+// This implementation uses YXZ convention (Z is the first rotation).
+Vector3 Quat::get_euler_yxz() const {
+	Basis m(*this);
+	return m.get_euler_yxz();
+}
+
+real_t Quat::length() const
+{
+	return ::sqrt(length_squared());
+}
+
+void Quat::normalize()
+{
+	*this /= length();
+}
+
+Quat Quat::normalized() const
+{
+	return *this / length();
+}
+
+Quat Quat::inverse() const
+{
+	return Quat( -x, -y, -z, w );
+}
+
 Quat Quat::slerp(const Quat& q, const real_t& t) const {
 
 	Quat          to1;
@@ -263,11 +310,4 @@ bool Quat::operator!=(const Quat& p_quat) const {
 	return x!=p_quat.x || y!=p_quat.y || z!=p_quat.z || w!=p_quat.w;
 }
 
-
-Vector3 Quat::get_euler() const
-{
-	Basis m(*this);
-	return m.get_euler();
-}
-
 }

src/core/String.cpp

@@ -24,6 +24,55 @@ const char *godot::CharString::get_data() const {
 	return godot::api->godot_char_string_get_data(&_char_string);
 }
 
+String String::num(double p_num, int p_decimals) {
+	String new_string;
+	new_string._godot_string = godot::api->godot_string_num_with_decimals(p_num, p_decimals);
+
+	return new_string;
+}
+
+String String::num_scientific(double p_num) {
+	String new_string;
+	new_string._godot_string = godot::api->godot_string_num_scientific(p_num);
+
+	return new_string;
+}
+
+String String::num_real(double p_num) {
+	String new_string;
+	new_string._godot_string = godot::api->godot_string_num_real(p_num);
+
+	return new_string;
+}
+
+String String::num_int64(int64_t p_num, int base, bool capitalize_hex) {
+	String new_string;
+	new_string._godot_string = godot::api->godot_string_num_int64_capitalized(p_num, base, capitalize_hex);
+
+	return new_string;
+}
+
+String String::chr(godot_char_type p_char) {
+	String new_string;
+	new_string._godot_string = godot::api->godot_string_chr(p_char);
+
+	return new_string;
+}
+
+String String::md5(const uint8_t *p_md5) {
+	String new_string;
+	new_string._godot_string = godot::api->godot_string_md5(p_md5);
+
+	return new_string;
+}
+
+String String::hex_encode_buffer(const uint8_t *p_buffer, int p_len) {
+	String new_string;
+	new_string._godot_string = godot::api->godot_string_hex_encode_buffer(p_buffer, p_len);
+
+	return new_string;
+}
+
 godot::String::String() {
 	godot::api->godot_string_new(&_godot_string);
 }

src/core/Transform2D.cpp

@@ -340,8 +340,7 @@ Transform2D Transform2D::interpolate_with(const Transform2D& p_transform, real_t
 
 Transform2D::operator String() const {
 
-	//return String(String()+elements[0]+", "+elements[1]+", "+elements[2]);
+	return String(String() + elements[0] + ", " + elements[1] + ", " + elements[2]);
-	return String(); // @Todo
 }
 
 }

src/core/Vector2.cpp

@@ -252,7 +252,7 @@ Vector2 Vector2::snapped(const Vector2& p_by) const
 
 Vector2::operator String() const
 {
-	return String(); /* @Todo String::num() */
+	return String::num(x) + ", " + String::num(y);
 }
 
 

src/core/Vector3.cpp

@@ -327,7 +327,7 @@ Vector3 Vector3::snapped(const float by)
 
 Vector3::operator String() const
 {
-	return String(); // @Todo
+	return String::num(x) + ", " + String::num(y) + ", " + String::num(z);
 }