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Fix incorrect vector normalisation with dot products smaller than epsilon #247

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Merged
merged 1 commit into from
Feb 7, 2025
Merged

Fix incorrect vector normalisation with dot products smaller than epsilon #247

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10 changes: 7 additions & 3 deletions source/egg/math/Quat.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@ void Quatf::setRPY(const Vector3f &rpy) {
/// @addr{0x8023A168}
/// @brief Scales the quaternion to a unit length.
void Quatf::normalise() {
f32 len = dot() > std::numeric_limits<f32>::epsilon() ? Mathf::sqrt(dot()) : 0.0f;
f32 len = squaredNorm() > std::numeric_limits<f32>::epsilon() ? norm() : 0.0f;

if (len != 0.0f) {
f32 inv = 1.0f / len;
Expand Down Expand Up @@ -112,8 +112,12 @@ Quatf Quatf::slerpTo(const Quatf &q1, f32 t) const {

/// @addr{0x8023A138}
/// @brief Computes \f$this \cdot this = w^2 + x^2 + y^2 + z^2\f$
f32 Quatf::dot() const {
return w * w + v.dot();
f32 Quatf::squaredNorm() const {
return w * w + v.squaredLength();
}

f32 Quatf::norm() const {
return Mathf::sqrt(squaredNorm());
}

/// @brief Computes \f$this \cdot rhs = w \times rhs.w + x \times rhs.x + y \times rhs.y + z \times
Expand Down
3 changes: 2 additions & 1 deletion source/egg/math/Quat.hh
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Expand Up @@ -83,7 +83,8 @@ struct Quatf {
Vector3f rotateVector(const Vector3f &vec) const;
Vector3f rotateVectorInv(const Vector3f &vec) const;
Quatf slerpTo(const Quatf &q2, f32 t) const;
f32 dot() const;
f32 squaredNorm() const;
f32 norm() const;
f32 dot(const Quatf &q) const;
void setAxisRotation(f32 angle, const Vector3f &axis);
Quatf multSwap(const Vector3f &v) const;
Expand Down
14 changes: 8 additions & 6 deletions source/egg/math/Vector.cc
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Expand Up @@ -39,7 +39,7 @@ void Vector2f::read(Stream &stream) {
}

/// @brief The dot product between the vector and itself.
f32 Vector3f::dot() const {
f32 Vector3f::squaredLength() const {
return x * x + y * y + z * z;
}

Expand Down Expand Up @@ -75,16 +75,18 @@ Vector3f Vector3f::cross(const Vector3f &rhs) const {

/// @brief The square root of the vector's dot product.
f32 Vector3f::length() const {
return Mathf::sqrt(dot());
return Mathf::sqrt(squaredLength());
}

/// @addr{0x80243ADC}
/// @brief Normalizes the vector and returns the original length.
/// @return (optional) The length of the vector before normalisation.
f32 Vector3f::normalise() {
f32 len = length();
if (std::numeric_limits<f32>::epsilon() < dot()) {
*this = *this * (1.0f / len);
f32 len = 0.0f;

if (squaredLength() > std::numeric_limits<f32>::epsilon()) {
len = length();
*this *= (1.0f / len);
}

return len;
Expand Down Expand Up @@ -134,7 +136,7 @@ std::pair<Vector3f, Vector3f> Vector3f::projAndRej(const Vector3f &rhs) const {
/// @brief The square of the distance between two vectors.
f32 Vector3f::sqDistance(const Vector3f &rhs) const {
const EGG::Vector3f diff = *this - rhs;
return diff.dot();
return diff.squaredLength();
}

/// @addr{0x8019ADE0}
Expand Down
2 changes: 1 addition & 1 deletion source/egg/math/Vector.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -155,7 +155,7 @@ struct Vector3f {
}

[[nodiscard]] Vector3f cross(const EGG::Vector3f &rhs) const;
[[nodiscard]] f32 dot() const;
[[nodiscard]] f32 squaredLength() const;
[[nodiscard]] f32 dot(const EGG::Vector3f &rhs) const;
[[nodiscard]] f32 ps_dot() const;
[[nodiscard]] f32 ps_dot(const EGG::Vector3f &rhs) const;
Expand Down
8 changes: 4 additions & 4 deletions source/game/field/ObjectCollisionBase.cc
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Expand Up @@ -76,12 +76,12 @@ bool ObjectCollisionBase::check(ObjectCollisionBase &rhs, EGG::Vector3f &distanc
return true;
}

max = EGG::Mathf::sqrt(D.dot());
max = D.length();

if (max2 - max * max <= std::numeric_limits<f32>::epsilon() * max2) {
FUN_808350e4(state, D);
getNearestPoint(state, state.m_flags, v0, v1);
f32 len = EGG::Mathf::sqrt(D.dot());
f32 len = D.length();
v0 -= D * (getBoundingRadius() / len);
v1 += D * (rhs.getBoundingRadius() / len);

Expand Down Expand Up @@ -123,7 +123,7 @@ void ObjectCollisionBase::FUN_808350e4(GJKState &state, EGG::Vector3f &v) const
EGG::Vector3f tmp = EGG::Vector3f::zero;
getNearestPoint(state, mask, tmp);

sqLen = tmp.dot();
sqLen = tmp.squaredLength();
if (sqLen < min) {
state.m_flags = mask;
v = tmp;
Expand Down Expand Up @@ -240,7 +240,7 @@ void ObjectCollisionBase::calcSimplex(GJKState &state) const {
}

state.m_scales[state.m_mask][idx] = 1.0f;
s_dotProductCache[idx][idx] = state.m_s[idx].dot();
s_dotProductCache[idx][idx] = state.m_s[idx].squaredLength();

for (u32 i = 0, iMask = 1; i < 4; ++i, iMask *= 2) {
if ((state.m_flags & iMask) == 0) {
Expand Down
4 changes: 2 additions & 2 deletions source/game/kart/KartCollide.cc
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Expand Up @@ -476,7 +476,7 @@ void KartCollide::calcSideCollision(CollisionData &collisionData, Hitbox &hitbox
if (Field::CollisionDirector::Instance()->checkSphereCachedPartial(effectivePos,
hitbox.lastPos(), KCL_TYPE_DRIVER_WALL, &tempColInfo, nullptr,
hitbox.radius())) {
tangents[i] = colInfo->tangentOff.dot();
tangents[i] = colInfo->tangentOff.squaredLength();
}
}

Expand Down Expand Up @@ -727,7 +727,7 @@ void KartCollide::applySomeFloorMoment(f32 down, f32 rate, CollisionGroup *hitbo
crossVec = colData.floorNrm.cross(negSpeed);
crossVec = crossVec.cross(colData.floorNrm);

if (std::numeric_limits<f32>::epsilon() >= crossVec.dot()) {
if (std::numeric_limits<f32>::epsilon() >= crossVec.squaredLength()) {
return;
}

Expand Down
10 changes: 5 additions & 5 deletions source/game/kart/KartDynamics.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -110,13 +110,13 @@ void KartDynamics::calc(f32 dt, f32 maxSpeed, bool /*air*/) {
EGG::Vector3f playerBackHoriz = playerBack;
playerBackHoriz.y = 0.0f;

if (std::numeric_limits<f32>::epsilon() < playerBackHoriz.dot()) {
if (std::numeric_limits<f32>::epsilon() < playerBackHoriz.squaredLength()) {
playerBackHoriz.normalise();
const auto [proj, rej] = m_extVel.projAndRej(playerBackHoriz);
const EGG::Vector3f &speedBack = proj;
m_extVel = rej;

f32 norm = speedBack.dot();
f32 norm = speedBack.squaredLength();
if (std::numeric_limits<f32>::epsilon() < norm) {
norm = EGG::Mathf::sqrt(norm);
} else {
Expand Down Expand Up @@ -147,10 +147,10 @@ void KartDynamics::calc(f32 dt, f32 maxSpeed, bool /*air*/) {

EGG::Vector3f angVelSum = m_angVel2 + m_angVel1 + m_angVel0Factor * m_angVel0;

if (std::numeric_limits<f32>::epsilon() < angVelSum.dot()) {
if (std::numeric_limits<f32>::epsilon() < angVelSum.squaredLength()) {
m_mainRot += m_mainRot.multSwap(angVelSum) * (dt * 0.5f);

if (EGG::Mathf::abs(m_mainRot.dot()) < std::numeric_limits<f32>::epsilon()) {
if (EGG::Mathf::abs(m_mainRot.norm()) < std::numeric_limits<f32>::epsilon()) {
m_mainRot = EGG::Quatf::ident;
} else {
m_mainRot.normalise();
Expand All @@ -161,7 +161,7 @@ void KartDynamics::calc(f32 dt, f32 maxSpeed, bool /*air*/) {
stabilize();
}

if (EGG::Mathf::abs(m_mainRot.dot()) < std::numeric_limits<f32>::epsilon()) {
if (EGG::Mathf::abs(m_mainRot.norm()) < std::numeric_limits<f32>::epsilon()) {
m_mainRot = EGG::Quatf::ident;
} else {
m_mainRot.normalise();
Expand Down
2 changes: 1 addition & 1 deletion source/game/kart/KartJump.cc
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Expand Up @@ -183,7 +183,7 @@ void KartJump::setAngle(const EGG::Vector3f &left) {

f32 vel1YDot = m_move->vel1Dir().dot(EGG::Vector3f::ey);
EGG::Vector3f vel1YCross = m_move->vel1Dir().cross(EGG::Vector3f::ey);
f32 vel1YCrossMag = EGG::Mathf::sqrt(vel1YCross.dot());
f32 vel1YCrossMag = vel1YCross.length();
f32 pitch = EGG::Mathf::abs(EGG::Mathf::atan2(vel1YCrossMag, vel1YDot));
f32 angle = 90.0f - (pitch * RAD2DEG);
u32 weightClass = static_cast<u32>(param()->stats().weightClass);
Expand Down
10 changes: 5 additions & 5 deletions source/game/kart/KartMove.cc
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Expand Up @@ -516,7 +516,7 @@ void KartMove::calcDirs() {

EGG::Vector3f dirDiff = local_b8 - m_dir;

if (dirDiff.dot() <= std::numeric_limits<f32>::epsilon()) {
if (dirDiff.squaredLength() <= std::numeric_limits<f32>::epsilon()) {
m_dir = local_b8;
m_dirDiff.setZero();
} else {
Expand Down Expand Up @@ -546,7 +546,7 @@ void KartMove::calcDirs() {
if (m_hasLandingDir) {
f32 dot = m_dir.dot(m_landingDir);
EGG::Vector3f cross = m_dir.cross(m_landingDir);
f32 crossDot = EGG::Mathf::sqrt(cross.dot());
f32 crossDot = cross.length();
f32 angle = EGG::Mathf::atan2(crossDot, dot);
angle = EGG::Mathf::abs(angle);

Expand Down Expand Up @@ -1577,7 +1577,7 @@ void KartMove::calcDive() {
EGG::Vector3f forwardRotated = dynamics()->mainRot().rotateVector(EGG::Vector3f::ez);
f32 upDotTop = m_up.dot(topRotated);
EGG::Vector3f upCrossTop = m_up.cross(topRotated);
f32 crossNorm = EGG::Mathf::sqrt(upCrossTop.dot());
f32 crossNorm = upCrossTop.length();
f32 angle = EGG::Mathf::abs(EGG::Mathf::atan2(crossNorm, upDotTop));

f32 fVar1 = angle * RAD2DEG - 20.0f;
Expand Down Expand Up @@ -1654,7 +1654,7 @@ void KartMove::calcVehicleRotation(f32 turn) {
EGG::Vector3f frontSpeed = velocity().rej(front).perpInPlane(m_up, false);
f32 magnitude = tiltMagnitude;

if (frontSpeed.dot() > std::numeric_limits<f32>::epsilon()) {
if (frontSpeed.squaredLength() > std::numeric_limits<f32>::epsilon()) {
magnitude = frontSpeed.length();

if (front.z * frontSpeed.x - front.x * frontSpeed.z > 0.0f) {
Expand Down Expand Up @@ -2418,7 +2418,7 @@ void KartMoveBike::calcVehicleRotation(f32 turn) {
scalar = std::min(1.0f, scalar);
top = scalar * m_up + (1.0f - scalar) * EGG::Vector3f::ey;

if (std::numeric_limits<f32>::epsilon() < top.dot()) {
if (std::numeric_limits<f32>::epsilon() < top.squaredLength()) {
top.normalise();
}
}
Expand Down