[Bf-blender-cvs] [fabc46b] master: Math Lib: add rotation_between_vecs_to_mat3
Campbell Barton
noreply at git.blender.org
Sat Apr 19 07:41:00 CEST 2014
Commit: fabc46b41f43aa93c5118fceb4f482419e75ed6f
Author: Campbell Barton
Date: Sat Apr 19 15:36:47 2014 +1000
https://developer.blender.org/rBfabc46b41f43aa93c5118fceb4f482419e75ed6f
Math Lib: add rotation_between_vecs_to_mat3
- behaves like rotation_between_vecs_to_quat
- avoids calling sin,cos calls (approx 1.6x faster).
===================================================================
M source/blender/blenlib/BLI_math_base.h
M source/blender/blenlib/BLI_math_rotation.h
M source/blender/blenlib/intern/math_rotation.c
===================================================================
diff --git a/source/blender/blenlib/BLI_math_base.h b/source/blender/blenlib/BLI_math_base.h
index de35ccd..68ffb4b 100644
--- a/source/blender/blenlib/BLI_math_base.h
+++ b/source/blender/blenlib/BLI_math_base.h
@@ -279,18 +279,24 @@ double double_round(double x, int ndigits);
} (void)0
# define BLI_ASSERT_ZERO_M3(m) { \
- BLI_assert(dot_vn_vn((const float *)m, (const float *)m, 9) != 0.0); \
+ BLI_assert(dot_vn_vn((const float *)m, (const float *)m, 9) != 0.0); \
} (void)0
# define BLI_ASSERT_ZERO_M4(m) { \
BLI_assert(dot_vn_vn((const float *)m, (const float *)m, 16) != 0.0); \
} (void)0
+# define BLI_ASSERT_UNIT_M3(m) { \
+ BLI_ASSERT_UNIT_V3((m)[0]); \
+ BLI_ASSERT_UNIT_V3((m)[1]); \
+ BLI_ASSERT_UNIT_V3((m)[2]); \
+} (void)0
#else
# define BLI_ASSERT_UNIT_V2(v) (void)(v)
# define BLI_ASSERT_UNIT_V3(v) (void)(v)
# define BLI_ASSERT_UNIT_QUAT(v) (void)(v)
# define BLI_ASSERT_ZERO_M3(m) (void)(m)
# define BLI_ASSERT_ZERO_M4(m) (void)(m)
+# define BLI_ASSERT_UNIT_M3(m) (void)(m)
#endif
#endif /* __BLI_MATH_BASE_H__ */
diff --git a/source/blender/blenlib/BLI_math_rotation.h b/source/blender/blenlib/BLI_math_rotation.h
index 25c9b5e..6c63217 100644
--- a/source/blender/blenlib/BLI_math_rotation.h
+++ b/source/blender/blenlib/BLI_math_rotation.h
@@ -84,6 +84,7 @@ void tri_to_quat_ex(float quat[4], const float v1[3], const float v2[3], const f
float tri_to_quat(float q[4], const float a[3], const float b[3], const float c[3]);
void vec_to_quat(float q[4], const float vec[3], short axis, const short upflag);
/* note: v1 and v2 must be normalized */
+void rotation_between_vecs_to_mat3(float m[3][3], const float v1[3], const float v2[3]);
void rotation_between_vecs_to_quat(float q[4], const float v1[3], const float v2[3]);
void rotation_between_quats_to_quat(float q[4], const float q1[4], const float q2[4]);
diff --git a/source/blender/blenlib/intern/math_rotation.c b/source/blender/blenlib/intern/math_rotation.c
index 46f508b..00fdf44 100644
--- a/source/blender/blenlib/intern/math_rotation.c
+++ b/source/blender/blenlib/intern/math_rotation.c
@@ -400,6 +400,55 @@ float normalize_qt_qt(float r[4], const float q[4])
return normalize_qt(r);
}
+/**
+ * Calculate a rotation matrix from 2 normalized vectors.
+ *
+ * \note faster then using axis/angle functions.
+ */
+void rotation_between_vecs_to_mat3(float m[3][3], const float v1[3], const float v2[3])
+{
+ float axis[3];
+
+ BLI_ASSERT_UNIT_V3(v1);
+ BLI_ASSERT_UNIT_V3(v2);
+
+ cross_v3_v3v3(axis, v1, v2);
+
+ if (normalize_v3(axis) > FLT_EPSILON) {
+ float m1[3][3], m2[3][3];
+
+axis_calc:
+ BLI_ASSERT_UNIT_V3(axis);
+
+ copy_v3_v3(m1[0], v1);
+ copy_v3_v3(m2[0], v2);
+
+ copy_v3_v3(m1[1], axis);
+ copy_v3_v3(m2[1], axis);
+
+ cross_v3_v3v3(m1[2], m1[1], m1[0]);
+ cross_v3_v3v3(m2[2], m2[1], m2[0]);
+
+ transpose_m3(m2);
+ mul_m3_m3m3(m, m1, m2);
+ transpose_m3(m);
+
+ BLI_ASSERT_UNIT_M3(m);
+ }
+ else {
+ if (dot_v3v3(v1, v2) > 0.0f) {
+ /* Same vectors, zero rotation... */
+ unit_m3(m);
+ }
+ else {
+ /* Colinear but opposed vectors, 180 rotation... */
+ ortho_v3_v3(axis, v1);
+ normalize_v3(axis);
+ goto axis_calc;
+ }
+ }
+}
+
/* note: expects vectors to be normalized */
void rotation_between_vecs_to_quat(float q[4], const float v1[3], const float v2[3])
{
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