[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [23135] branches/blender2.5/blender/source /blender: 2.5 - More work on Axis-Angle Rotations
Joshua Leung
aligorith at gmail.com
Sat Sep 12 07:06:29 CEST 2009
Revision: 23135
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=23135
Author: aligorith
Date: 2009-09-12 07:06:28 +0200 (Sat, 12 Sep 2009)
Log Message:
-----------
2.5 - More work on Axis-Angle Rotations
* Added a few new methods for axis-angle conversions, and used these instead of manually performing those steps elsewhere
* Axis-angles to other representations now get their axes normalised to make sure that odd scaling doesn't occur.
* Made a few more tools work with axis-angles properly
Modified Paths:
--------------
branches/blender2.5/blender/source/blender/blenkernel/intern/armature.c
branches/blender2.5/blender/source/blender/blenlib/BLI_arithb.h
branches/blender2.5/blender/source/blender/blenlib/intern/arithb.c
branches/blender2.5/blender/source/blender/editors/animation/keyingsets.c
branches/blender2.5/blender/source/blender/editors/armature/editarmature.c
branches/blender2.5/blender/source/blender/editors/armature/poseobject.c
branches/blender2.5/blender/source/blender/editors/transform/transform.c
branches/blender2.5/blender/source/blender/editors/transform/transform_conversions.c
branches/blender2.5/blender/source/blender/makesrna/intern/rna_pose.c
Modified: branches/blender2.5/blender/source/blender/blenkernel/intern/armature.c
===================================================================
--- branches/blender2.5/blender/source/blender/blenkernel/intern/armature.c 2009-09-12 04:03:26 UTC (rev 23134)
+++ branches/blender2.5/blender/source/blender/blenkernel/intern/armature.c 2009-09-12 05:06:28 UTC (rev 23135)
@@ -1993,7 +1993,7 @@
}
else if (chan->rotmode == PCHAN_ROT_AXISANGLE) {
/* axis-angle - stored in quaternion data, but not really that great for 3D-changing orientations */
- VecRotToMat3(&chan->quat[1], chan->quat[0], rmat);
+ AxisAngleToMat3(&chan->quat[1], chan->quat[0], rmat);
}
else {
/* quats are normalised before use to eliminate scaling issues */
Modified: branches/blender2.5/blender/source/blender/blenlib/BLI_arithb.h
===================================================================
--- branches/blender2.5/blender/source/blender/blenlib/BLI_arithb.h 2009-09-12 04:03:26 UTC (rev 23134)
+++ branches/blender2.5/blender/source/blender/blenlib/BLI_arithb.h 2009-09-12 05:06:28 UTC (rev 23135)
@@ -342,8 +342,6 @@
void VecUpMat3old(float *vec, float mat[][3], short axis);
void VecUpMat3(float *vec, float mat[][3], short axis);
-void VecRotToMat3(float *vec, float phi, float mat[][3]);
-void VecRotToMat4(float *vec, float phi, float mat[][4]);
void VecCopyf(float *v1, float *v2);
int VecLen(int *v1, int *v2);
@@ -376,10 +374,23 @@
void Vec2Copyf(float *v1, float *v2);
void Vec2Lerpf(float *target, float *a, float *b, float t);
-void AxisAngleToQuat(float *q, float *axis, float angle);
-void QuatToAxisAngle(float *q, float *axis, float *angle);
+void AxisAngleToQuat(float q[4], float axis[3], float angle);
+void QuatToAxisAngle(float q[4], float axis[3], float *angle);
+void AxisAngleToEulO(float axis[3], float angle, float eul[3], short order);
+void EulOToAxisAngle(float eul[3], short order, float axis[3], float *angle);
+void AxisAngleToMat3(float axis[3], float angle, float mat[3][3]);
+void AxisAngleToMat4(float axis[3], float angle, float mat[4][4]);
+void Mat3ToAxisAngle(float mat[3][3], float axis[3], float *angle);
+void Mat4ToAxisAngle(float mat[4][4], float axis[3], float *angle);
+
+void Mat3ToVecRot(float mat[3][3], float axis[3], float *angle);
+void Mat4ToVecRot(float mat[4][4], float axis[3], float *angle);
+void VecRotToMat3(float *vec, float phi, float mat[][3]);
+void VecRotToMat4(float *vec, float phi, float mat[][4]);
+
void RotationBetweenVectorsToQuat(float *q, float v1[3], float v2[3]);
void vectoquat(float *vec, short axis, short upflag, float *q);
+void Mat3ToQuat_is_ok(float wmat[][3], float *q);
void VecReflect(float *out, float *v1, float *v2);
void VecBisect3(float *v, float *v1, float *v2, float *v3);
@@ -460,8 +471,6 @@
short EenheidsMat(float mat[][3]);
-void Mat3ToQuat_is_ok(float wmat[][3], float *q);
-
void i_ortho(float left, float right, float bottom, float top, float nearClip, float farClip, float matrix[][4]);
void i_polarview(float dist, float azimuth, float incidence, float twist, float Vm[][4]);
void i_translate(float Tx, float Ty, float Tz, float mat[][4]);
Modified: branches/blender2.5/blender/source/blender/blenlib/intern/arithb.c
===================================================================
--- branches/blender2.5/blender/source/blender/blenlib/intern/arithb.c 2009-09-12 04:03:26 UTC (rev 23134)
+++ branches/blender2.5/blender/source/blender/blenlib/intern/arithb.c 2009-09-12 05:06:28 UTC (rev 23135)
@@ -3278,7 +3278,7 @@
/* ************ AXIS ANGLE *************** */
/* Axis angle to Quaternions */
-void AxisAngleToQuat(float *q, float *axis, float angle)
+void AxisAngleToQuat(float q[4], float axis[3], float angle)
{
float nor[3];
float si;
@@ -3315,6 +3315,90 @@
axis[2]= q[3] / si;
}
+/* Axis Angle to Euler Rotation */
+void AxisAngleToEulO(float axis[3], float angle, float eul[3], short order)
+{
+ float q[4];
+
+ /* use quaternions as intermediate representation for now... */
+ AxisAngleToQuat(q, axis, angle);
+ QuatToEulO(q, eul, order);
+}
+
+/* Euler Rotation to Axis Angle */
+void EulOToAxisAngle(float eul[3], short order, float axis[3], float *angle)
+{
+ float q[4];
+
+ /* use quaternions as intermediate representation for now... */
+ EulOToQuat(eul, order, q);
+ QuatToAxisAngle(q, axis, angle);
+}
+
+/* axis angle to 3x3 matrix - safer version (normalisation of axis performed) */
+void AxisAngleToMat3(float axis[3], float angle, float mat[3][3])
+{
+ float nor[3];
+
+ /* normalise the axis first (to remove unwanted scaling) */
+ VecCopyf(nor, axis);
+ Normalize(nor);
+
+ /* now convert this to a 3x3 matrix */
+ VecRotToMat3(nor, angle, mat);
+}
+
+/* axis angle to 4x4 matrix - safer version (normalisation of axis performed) */
+void AxisAngleToMat4(float axis[3], float angle, float mat[4][4])
+{
+ float nor[3];
+
+ /* normalise the axis first (to remove unwanted scaling) */
+ VecCopyf(nor, axis);
+ Normalize(nor);
+
+ /* now convert this to a 4x4 matrix */
+ VecRotToMat4(nor, angle, mat);
+}
+
+/* 3x3 matrix to axis angle (alias around the other call) */
+void Mat3ToAxisAngle(float mat[3][3], float axis[3], float *angle)
+{
+ /* note different order of calling args... */
+ Mat3ToVecRot(axis, angle, mat);
+}
+
+/* 4x4 matrix to axis angle (alias around the other call) */
+void Mat4ToAxisAngle(float mat[4][4], float axis[3], float *angle)
+{
+ /* note different order of calling args... */
+ Mat4ToVecRot(axis, angle, mat);
+}
+
+/* ************ AXIS ANGLE (unchecked) *************** */
+
+/* 3x3 matrix to axis angle */
+void Mat3ToVecRot(float mat[3][3], float axis[3], float *angle)
+{
+ float q[4];
+
+ /* use quaternions as intermediate representation */
+ // TODO: it would be nicer to go straight there...
+ Mat3ToQuat(mat, q);
+ QuatToAxisAngle(q, axis, angle);
+}
+
+/* 4x4 matrix to axis angle */
+void Mat4ToVecRot(float mat[4][4], float axis[3], float *angle)
+{
+ float q[4];
+
+ /* use quaternions as intermediate representation */
+ // TODO: it would be nicer to go straight there...
+ Mat4ToQuat(mat, q);
+ QuatToAxisAngle(q, axis, angle);
+}
+
/* axis angle to 3x3 matrix */
void VecRotToMat3(float *vec, float phi, float mat[][3])
{
@@ -3339,7 +3423,6 @@
mat[2][0]= vz*vx*(1.0f-co)+vy*si;
mat[2][1]= vy*vz*(1.0f-co)-vx*si;
mat[2][2]= vz2+co*(1.0f-vz2);
-
}
/* axis angle to 4x4 matrix */
@@ -3374,6 +3457,8 @@
}
}
+/* ************ VECTORS *************** */
+
/* Returns a vector bisecting the angle at v2 formed by v1, v2 and v3 */
void VecBisect3(float *out, float *v1, float *v2, float *v3)
{
Modified: branches/blender2.5/blender/source/blender/editors/animation/keyingsets.c
===================================================================
--- branches/blender2.5/blender/source/blender/editors/animation/keyingsets.c 2009-09-12 04:03:26 UTC (rev 23134)
+++ branches/blender2.5/blender/source/blender/editors/animation/keyingsets.c 2009-09-12 05:06:28 UTC (rev 23135)
@@ -1177,7 +1177,7 @@
/* if this path is exactly "rotation", and the rotation mode is set to eulers,
* use "euler_rotation" instead so that rotations will be keyed correctly
*/
- if (strcmp(ksp->rna_path, "rotation")==0 && (cks->pchan->rotmode))
+ if (strcmp(ksp->rna_path, "rotation")==0 && (cks->pchan->rotmode > 0))
BLI_dynstr_append(pathds, "euler_rotation");
else
BLI_dynstr_append(pathds, ksp->rna_path);
Modified: branches/blender2.5/blender/source/blender/editors/armature/editarmature.c
===================================================================
--- branches/blender2.5/blender/source/blender/editors/armature/editarmature.c 2009-09-12 04:03:26 UTC (rev 23134)
+++ branches/blender2.5/blender/source/blender/editors/armature/editarmature.c 2009-09-12 05:06:28 UTC (rev 23135)
@@ -4865,6 +4865,7 @@
eul[0]= eul[1]= eul[2]= 0.0f;
+ // TODO: for 4 channel rotations, we need special flags for those too...
if (pchan->protectflag & OB_LOCK_ROTX)
eul[0]= oldeul[0];
if (pchan->protectflag & OB_LOCK_ROTY)
Modified: branches/blender2.5/blender/source/blender/editors/armature/poseobject.c
===================================================================
--- branches/blender2.5/blender/source/blender/editors/armature/poseobject.c 2009-09-12 04:03:26 UTC (rev 23134)
+++ branches/blender2.5/blender/source/blender/editors/armature/poseobject.c 2009-09-12 05:06:28 UTC (rev 23135)
@@ -1009,12 +1009,25 @@
}
}
else if (pchan->rotmode > 0) {
- /* quat to euler */
- QuatToEulO(chan->quat, pchan->eul, pchan->rotmode);
+ /* quat/axis-angle to euler */
+ if (chan->rotmode == PCHAN_ROT_AXISANGLE)
+ AxisAngleToEulO(&chan->quat[1], chan->quat[0], pchan->eul, pchan->rotmode);
+ else
+ QuatToEulO(chan->quat, pchan->eul, pchan->rotmode);
}
+ else if (pchan->rotmode == PCHAN_ROT_AXISANGLE) {
+ /* quat/euler to axis angle */
+ if (chan->rotmode > 0)
+ EulOToAxisAngle(chan->eul, chan->rotmode, &pchan->quat[1], &pchan->quat[0]);
+ else
+ QuatToAxisAngle(chan->quat, &pchan->quat[1], &pchan->quat[0]);
+ }
else {
- /* euler to quat */
- EulOToQuat(chan->eul, chan->rotmode, pchan->quat);
+ /* euler/axis-angle to quat */
+ if (chan->rotmode > 0)
+ EulOToQuat(chan->eul, chan->rotmode, pchan->quat);
+ else
+ AxisAngleToQuat(pchan->quat, &chan->quat[1], chan->quat[0]);
}
/* paste flipped pose? */
@@ -1026,6 +1039,14 @@
pchan->eul[1] *= -1;
pchan->eul[2] *= -1;
}
+ else if (pchan->rotmode == PCHAN_ROT_AXISANGLE) {
+ float eul[3];
+
+ AxisAngleToEulO(&pchan->quat[1], pchan->quat[0], eul, EULER_ORDER_DEFAULT);
+ eul[1]*= -1;
+ eul[2]*= -1;
+ EulOToAxisAngle(eul, EULER_ORDER_DEFAULT, &pchan->quat[1], &pchan->quat[0]);
+ }
else {
float eul[3];
Modified: branches/blender2.5/blender/source/blender/editors/transform/transform.c
===================================================================
--- branches/blender2.5/blender/source/blender/editors/transform/transform.c 2009-09-12 04:03:26 UTC (rev 23134)
+++ branches/blender2.5/blender/source/blender/editors/transform/transform.c 2009-09-12 05:06:28 UTC (rev 23135)
@@ -1614,7 +1614,8 @@
{
/* quaternions get limited with euler... */
/* this function only does the delta rotation */
-
+
@@ Diff output truncated at 10240 characters. @@
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