A 3×3 matrix used for representing 3D rotation and scale. Usually used as an orthogonal basis for a Transform3D.
Contains 3 vector fields X, Y and Z as its columns, which are typically interpreted as the local basis vectors of a transformation. For such use, it is composed of a scaling and a rotation matrix, in that order (M = R.S).
Basis can also be accessed as an array of 3D vectors. These vectors are usually orthogonal to each other, but are not necessarily normalized (due to scaling).
For a general introduction, see the Matrices and transforms tutorial.
Constructs a default-initialized Basis set to IDENTITY.
Constructs a Basis as a copy of the given Basis.
Constructs a pure rotation basis matrix, rotated around the given axis
by angle
(in radians). The axis must be a normalized vector.
Constructs a pure rotation basis matrix from the given quaternion.
Constructs a basis matrix from 3 axis vectors (matrix columns).
Returns true
if the Basis matrices are not equal.
Note: Due to floating-point precision errors, consider using is_equal_approx instead, which is more reliable.
Composes these two basis matrices by multiplying them together. This has the effect of transforming the second basis (the child) by the first basis (the parent).
Transforms (multiplies) the Vector3 by the given Basis matrix.
This operator multiplies all components of the Basis, which scales it uniformly.
This operator multiplies all components of the Basis, which scales it uniformly.
This operator divides all components of the Basis, which inversely scales it uniformly.
This operator divides all components of the Basis, which inversely scales it uniformly.
Returns true
if the Basis matrices are exactly equal.
Note: Due to floating-point precision errors, consider using is_equal_approx instead, which is more reliable.
Access basis components using their index. b[0]
is equivalent to b.x
, b[1]
is equivalent to b.y
, and b[2]
is equivalent to b.z
.
The basis matrix's X vector (column 0). Equivalent to array index 0
.
The basis matrix's Y vector (column 1). Equivalent to array index 1
.
The basis matrix's Z vector (column 2). Equivalent to array index 2
.
Returns the determinant of the basis matrix. If the basis is uniformly scaled, its determinant is the square of the scale.
A negative determinant means the basis has a negative scale. A zero determinant means the basis isn't invertible, and is usually considered invalid.
Constructs a pure rotation Basis matrix from Euler angles in the specified Euler rotation order. By default, use YXZ order (most common). See the EulerOrder enum for possible values.
Constructs a pure scale basis matrix with no rotation or shearing. The scale values are set as the diagonal of the matrix, and the other parts of the matrix are zero.
Returns the basis's rotation in the form of Euler angles. The Euler order depends on the order
parameter, by default it uses 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 get_rotation_quaternion method instead, which returns a Quaternion quaternion instead of Euler angles.
Returns the basis's rotation in the form of a quaternion. See get_euler if you need Euler angles, but keep in mind quaternions should generally be preferred to Euler angles.
Assuming that the matrix is the combination of a rotation and scaling, return the absolute value of scaling factors along each axis.
Returns the inverse of the matrix.
Returns true
if the basis is conformal, meaning it preserves angles and distance ratios, and may only be composed of rotation and uniform scale. Returns false
if the basis has non-uniform scale or shear/skew. This can be used to validate if the basis is non-distorted, which is important for physics and other use cases.
Returns true
if this basis and b
are approximately equal, by calling @GlobalScope.is_equal_approx on all vector components.
Returns true
if this basis is finite, by calling @GlobalScope.is_finite on all vector components.
Creates a Basis with a rotation such that the forward axis (-Z) points towards the target
position.
The up axis (+Y) points as close to the up
vector as possible while staying perpendicular to the forward axis. The resulting Basis is orthonormalized. The target
and up
vectors cannot be zero, and cannot be parallel to each other.
If use_model_front
is true
, the +Z axis (asset front) is treated as forward (implies +X is left) and points toward the target
position. By default, the -Z axis (camera forward) is treated as forward (implies +X is right).
Returns the orthonormalized version of the matrix (useful to call from time to time to avoid rounding error for orthogonal matrices). This performs a Gram-Schmidt orthonormalization on the basis of the matrix.
Introduce an additional rotation around the given axis by angle
(in radians). The axis must be a normalized vector.
Introduce an additional scaling specified by the given 3D scaling factor.
Assuming that the matrix is a proper rotation matrix, slerp performs a spherical-linear interpolation with another rotation matrix.
Transposed dot product with the X axis of the matrix.
Transposed dot product with the Y axis of the matrix.
Transposed dot product with the Z axis of the matrix.
Returns the transposed version of the matrix.