From 56d69c14277925c283ac82c666095514311496d1 Mon Sep 17 00:00:00 2001 From: ira Date: Wed, 13 Jul 2022 15:10:43 +0000 Subject: [PATCH] Fix incorrect rotation in `Transform::rotate_around`. (#5300) Someone noted that the `rotate_around` method did not give the results they expected: [discord thread](https://discord.com/channels/691052431525675048/996497295325544479) I tested `rotate_around` and their workaround and it seems like it was indeed incorrect. Here is a scene with some cubes at different angles all being rotated around the center on the Y axis. https://user-images.githubusercontent.com/29694403/178598432-407d7e80-1caf-4b17-b69b-66d9156c81e1.mp4 Interestingly, the middle cube rotates as you might expect. This threw me for a bit of a loop before I added the other cubes to the test haha. Here is the same scene with the order multiplication of the quaternions flipped in `rotate_around`. https://user-images.githubusercontent.com/29694403/178598446-a98026f3-524c-448b-8437-4d0d3175c6ca.mp4 That looks better :) ## Changelog * Fixed `rotate_around` rotating the wrong way around * Added `translate_around`. - Split out the translation code from `rotate_around`. * Simplified/optimized `rotate_local_*` methods. - Yep, That works somehow. Quaternions sure are wacky. Do not ask me how this works exactly, haha. Co-authored-by: devil-ira --- .../src/components/global_transform.rs | 2 +- .../src/components/transform.rs | 40 +++++++++++++++---- 2 files changed, 33 insertions(+), 9 deletions(-) diff --git a/crates/bevy_transform/src/components/global_transform.rs b/crates/bevy_transform/src/components/global_transform.rs index 21f5e433fa..1e8aec21fd 100644 --- a/crates/bevy_transform/src/components/global_transform.rs +++ b/crates/bevy_transform/src/components/global_transform.rs @@ -202,7 +202,7 @@ impl GlobalTransform { #[inline] pub fn rotate_around(&mut self, point: Vec3, rotation: Quat) { self.translation = point + rotation * (self.translation - point); - self.rotation *= rotation; + self.rotate(rotation); } /// Multiplies `self` with `transform` component by component, returning the diff --git a/crates/bevy_transform/src/components/transform.rs b/crates/bevy_transform/src/components/transform.rs index c286eb3ed7..6fb0ac7bd4 100644 --- a/crates/bevy_transform/src/components/transform.rs +++ b/crates/bevy_transform/src/components/transform.rs @@ -196,6 +196,8 @@ impl Transform { } /// Rotates this [`Transform`] by the given rotation. + /// + /// If this [`Transform`] has a parent, the `rotation` is relative to the rotation of the parent. #[inline] pub fn rotate(&mut self, rotation: Quat) { self.rotation = rotation * self.rotation; @@ -233,22 +235,44 @@ impl Transform { self.rotate(Quat::from_rotation_z(angle)); } - /// Rotates this [`Transform`] around its `X` axis by `angle` (in radians). + /// Rotates this [`Transform`] by the given `rotation`. + /// + /// The `rotation` is relative to this [`Transform`]'s current rotation. + #[inline] + pub fn rotate_local(&mut self, rotation: Quat) { + self.rotation *= rotation; + } + + /// Rotates this [`Transform`] around its local `axis` by `angle` (in radians). + #[inline] + pub fn rotate_local_axis(&mut self, axis: Vec3, angle: f32) { + self.rotate_local(Quat::from_axis_angle(axis, angle)); + } + + /// Rotates this [`Transform`] around its local `X` axis by `angle` (in radians). #[inline] pub fn rotate_local_x(&mut self, angle: f32) { - self.rotate_axis(self.local_x(), angle); + self.rotate_local(Quat::from_rotation_x(angle)); } - /// Rotates this [`Transform`] around its `Y` axis by `angle` (in radians). + /// Rotates this [`Transform`] around its local `Y` axis by `angle` (in radians). #[inline] pub fn rotate_local_y(&mut self, angle: f32) { - self.rotate_axis(self.local_y(), angle); + self.rotate_local(Quat::from_rotation_y(angle)); } - /// Rotates this [`Transform`] around its `Z` axis by `angle` (in radians). + /// Rotates this [`Transform`] around its local `Z` axis by `angle` (in radians). #[inline] pub fn rotate_local_z(&mut self, angle: f32) { - self.rotate_axis(self.local_z(), angle); + self.rotate_local(Quat::from_rotation_z(angle)); + } + + /// Translates this [`Transform`] around a `point` in space. + /// + /// If this [`Transform`] has a parent, the `point` is relative to the [`Transform`] of the parent. + #[inline] + pub fn translate_around(&mut self, point: Vec3, rotation: Quat) { + self.translation = point + rotation * (self.translation - point); } /// Rotates this [`Transform`] around a `point` in space. @@ -256,8 +280,8 @@ impl Transform { /// If this [`Transform`] has a parent, the `point` is relative to the [`Transform`] of the parent. #[inline] pub fn rotate_around(&mut self, point: Vec3, rotation: Quat) { - self.translation = point + rotation * (self.translation - point); - self.rotation *= rotation; + self.translate_around(point, rotation); + self.rotate(rotation); } /// Rotates this [`Transform`] so that its local negative `Z` direction is toward