[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [30957] trunk/blender/source/blender: python mathutils change
Campbell Barton
ideasman42 at gmail.com
Mon Aug 2 02:08:01 CEST 2010
Revision: 30957
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=30957
Author: campbellbarton
Date: 2010-08-02 02:08:01 +0200 (Mon, 02 Aug 2010)
Log Message:
-----------
python mathutils change
quat * quat was returning the dot product (a float), rather then the cross product.
Use BLI_math's mul_qt_qtqt() function.
Modified Paths:
--------------
trunk/blender/source/blender/blenlib/BLI_math_rotation.h
trunk/blender/source/blender/blenlib/intern/math_rotation.c
trunk/blender/source/blender/python/generic/mathutils.c
trunk/blender/source/blender/python/generic/mathutils.h
trunk/blender/source/blender/python/generic/mathutils_quat.c
trunk/blender/source/blender/python/generic/mathutils_vector.c
Modified: trunk/blender/source/blender/blenlib/BLI_math_rotation.h
===================================================================
--- trunk/blender/source/blender/blenlib/BLI_math_rotation.h 2010-08-01 23:37:52 UTC (rev 30956)
+++ trunk/blender/source/blender/blenlib/BLI_math_rotation.h 2010-08-02 00:08:01 UTC (rev 30957)
@@ -44,9 +44,9 @@
/* arithmetic */
void mul_qt_qtqt(float q[4], const float a[4], const float b[4]);
-void mul_qt_v3(float q[4], float r[3]);
-void mul_qt_fl(float q[4], float f);
-void mul_fac_qt_fl(float q[4], float f);
+void mul_qt_v3(const float q[4], float r[3]);
+void mul_qt_fl(float q[4], const float f);
+void mul_fac_qt_fl(float q[4], const float f);
void sub_qt_qtqt(float q[4], float a[4], float b[4]);
Modified: trunk/blender/source/blender/blenlib/intern/math_rotation.c
===================================================================
--- trunk/blender/source/blender/blenlib/intern/math_rotation.c 2010-08-01 23:37:52 UTC (rev 30956)
+++ trunk/blender/source/blender/blenlib/intern/math_rotation.c 2010-08-02 00:08:01 UTC (rev 30957)
@@ -63,7 +63,7 @@
}
/* Assumes a unit quaternion */
-void mul_qt_v3(float *q, float *v)
+void mul_qt_v3(const float *q, float *v)
{
float t0, t1, t2;
@@ -111,7 +111,7 @@
}
/* simple mult */
-void mul_qt_fl(float *q, float f)
+void mul_qt_fl(float *q, const float f)
{
q[0] *= f;
q[1] *= f;
@@ -127,7 +127,7 @@
}
/* angular mult factor */
-void mul_fac_qt_fl(float *q, float fac)
+void mul_fac_qt_fl(float *q, const float fac)
{
float angle= fac*saacos(q[0]); /* quat[0]= cos(0.5*angle), but now the 0.5 and 2.0 rule out */
Modified: trunk/blender/source/blender/python/generic/mathutils.c
===================================================================
--- trunk/blender/source/blender/python/generic/mathutils.c 2010-08-01 23:37:52 UTC (rev 30956)
+++ trunk/blender/source/blender/python/generic/mathutils.c 2010-08-02 00:08:01 UTC (rev 30957)
@@ -44,6 +44,7 @@
* - toEuler --> to_euler
* - toQuat --> to_quat
* - Vector.toTrackQuat --> Vector.to_track_quat
+ * - Quaternion * Quaternion --> cross product (not dot product)
*
* Moved to Geometry module: Intersect, TriangleArea, TriangleNormal, QuadNormal, LineIntersect
*/
@@ -92,74 +93,6 @@
return size;
}
-//-----------------------------METHODS----------------------------
-//-----------------quat_rotation (internal)-----------
-//This function multiplies a vector/point * quat or vice versa
-//to rotate the point/vector by the quaternion
-//arguments should all be 3D
-PyObject *quat_rotation(PyObject *arg1, PyObject *arg2)
-{
- float rot[3];
- QuaternionObject *quat = NULL;
- VectorObject *vec = NULL;
-
- if(QuaternionObject_Check(arg1)){
- quat = (QuaternionObject*)arg1;
- if(!BaseMath_ReadCallback(quat))
- return NULL;
-
- if(VectorObject_Check(arg2)){
- vec = (VectorObject*)arg2;
-
- if(!BaseMath_ReadCallback(vec))
- return NULL;
-
- rot[0] = quat->quat[0]*quat->quat[0]*vec->vec[0] + 2*quat->quat[2]*quat->quat[0]*vec->vec[2] -
- 2*quat->quat[3]*quat->quat[0]*vec->vec[1] + quat->quat[1]*quat->quat[1]*vec->vec[0] +
- 2*quat->quat[2]*quat->quat[1]*vec->vec[1] + 2*quat->quat[3]*quat->quat[1]*vec->vec[2] -
- quat->quat[3]*quat->quat[3]*vec->vec[0] - quat->quat[2]*quat->quat[2]*vec->vec[0];
- rot[1] = 2*quat->quat[1]*quat->quat[2]*vec->vec[0] + quat->quat[2]*quat->quat[2]*vec->vec[1] +
- 2*quat->quat[3]*quat->quat[2]*vec->vec[2] + 2*quat->quat[0]*quat->quat[3]*vec->vec[0] -
- quat->quat[3]*quat->quat[3]*vec->vec[1] + quat->quat[0]*quat->quat[0]*vec->vec[1] -
- 2*quat->quat[1]*quat->quat[0]*vec->vec[2] - quat->quat[1]*quat->quat[1]*vec->vec[1];
- rot[2] = 2*quat->quat[1]*quat->quat[3]*vec->vec[0] + 2*quat->quat[2]*quat->quat[3]*vec->vec[1] +
- quat->quat[3]*quat->quat[3]*vec->vec[2] - 2*quat->quat[0]*quat->quat[2]*vec->vec[0] -
- quat->quat[2]*quat->quat[2]*vec->vec[2] + 2*quat->quat[0]*quat->quat[1]*vec->vec[1] -
- quat->quat[1]*quat->quat[1]*vec->vec[2] + quat->quat[0]*quat->quat[0]*vec->vec[2];
- return newVectorObject(rot, 3, Py_NEW, NULL);
- }
- }else if(VectorObject_Check(arg1)){
- vec = (VectorObject*)arg1;
-
- if(!BaseMath_ReadCallback(vec))
- return NULL;
-
- if(QuaternionObject_Check(arg2)){
- quat = (QuaternionObject*)arg2;
- if(!BaseMath_ReadCallback(quat))
- return NULL;
-
- rot[0] = quat->quat[0]*quat->quat[0]*vec->vec[0] + 2*quat->quat[2]*quat->quat[0]*vec->vec[2] -
- 2*quat->quat[3]*quat->quat[0]*vec->vec[1] + quat->quat[1]*quat->quat[1]*vec->vec[0] +
- 2*quat->quat[2]*quat->quat[1]*vec->vec[1] + 2*quat->quat[3]*quat->quat[1]*vec->vec[2] -
- quat->quat[3]*quat->quat[3]*vec->vec[0] - quat->quat[2]*quat->quat[2]*vec->vec[0];
- rot[1] = 2*quat->quat[1]*quat->quat[2]*vec->vec[0] + quat->quat[2]*quat->quat[2]*vec->vec[1] +
- 2*quat->quat[3]*quat->quat[2]*vec->vec[2] + 2*quat->quat[0]*quat->quat[3]*vec->vec[0] -
- quat->quat[3]*quat->quat[3]*vec->vec[1] + quat->quat[0]*quat->quat[0]*vec->vec[1] -
- 2*quat->quat[1]*quat->quat[0]*vec->vec[2] - quat->quat[1]*quat->quat[1]*vec->vec[1];
- rot[2] = 2*quat->quat[1]*quat->quat[3]*vec->vec[0] + 2*quat->quat[2]*quat->quat[3]*vec->vec[1] +
- quat->quat[3]*quat->quat[3]*vec->vec[2] - 2*quat->quat[0]*quat->quat[2]*vec->vec[0] -
- quat->quat[2]*quat->quat[2]*vec->vec[2] + 2*quat->quat[0]*quat->quat[1]*vec->vec[1] -
- quat->quat[1]*quat->quat[1]*vec->vec[2] + quat->quat[0]*quat->quat[0]*vec->vec[2];
- return newVectorObject(rot, 3, Py_NEW, NULL);
- }
- }
-
- PyErr_SetString(PyExc_RuntimeError, "quat_rotation(internal): internal problem rotating vector/point\n");
- return NULL;
-
-}
-
//----------------------------------MATRIX FUNCTIONS--------------------
//----------------------------------mathutils.RotationMatrix() ----------
//mat is a 1D array of floats - row[0][0],row[0][1], row[1][0], etc.
Modified: trunk/blender/source/blender/python/generic/mathutils.h
===================================================================
--- trunk/blender/source/blender/python/generic/mathutils.h 2010-08-01 23:37:52 UTC (rev 30956)
+++ trunk/blender/source/blender/python/generic/mathutils.h 2010-08-02 00:08:01 UTC (rev 30957)
@@ -63,8 +63,6 @@
PyObject *Mathutils_Init(void);
PyObject *Noise_Init(void); /* lazy, saves having own header */
-PyObject *quat_rotation(PyObject *arg1, PyObject *arg2);
-
int EXPP_FloatsAreEqual(float A, float B, int floatSteps);
int EXPP_VectorsAreEqual(float *vecA, float *vecB, int size, int floatSteps);
Modified: trunk/blender/source/blender/python/generic/mathutils_quat.c
===================================================================
--- trunk/blender/source/blender/python/generic/mathutils_quat.c 2010-08-01 23:37:52 UTC (rev 30956)
+++ trunk/blender/source/blender/python/generic/mathutils_quat.c 2010-08-02 00:08:01 UTC (rev 30957)
@@ -660,8 +660,9 @@
return NULL;
}
- if(quat1 && quat2) { /* QUAT*QUAT (dot product) */
- return PyFloat_FromDouble(dot_qtqt(quat1->quat, quat2->quat));
+ if(quat1 && quat2) { /* QUAT*QUAT (cross product) */
+ mul_qt_qtqt(quat, quat1->quat, quat2->quat);
+ return newQuaternionObject(quat, Py_NEW, NULL);
}
/* the only case this can happen (for a supported type is "FLOAT*QUAT" ) */
@@ -677,12 +678,19 @@
}
else { /* QUAT*SOMETHING */
if(VectorObject_Check(q2)){ /* QUAT*VEC */
+ float tvec[3];
vec = (VectorObject*)q2;
if(vec->size != 3){
PyErr_SetString(PyExc_TypeError, "Quaternion multiplication: only 3D vector rotations currently supported\n");
return NULL;
}
- return quat_rotation((PyObject*)quat1, (PyObject*)vec); /* vector updating done inside the func */
+ if(!BaseMath_ReadCallback(vec)) {
+ return NULL;
+ }
+
+ copy_v3_v3(tvec, vec->vec);
+ mul_qt_v3(quat1->quat, tvec);
+ return newVectorObject(tvec, 3, Py_NEW, NULL);
}
scalar= PyFloat_AsDouble(q2);
Modified: trunk/blender/source/blender/python/generic/mathutils_vector.c
===================================================================
--- trunk/blender/source/blender/python/generic/mathutils_vector.c 2010-08-01 23:37:52 UTC (rev 30956)
+++ trunk/blender/source/blender/python/generic/mathutils_vector.c 2010-08-02 00:08:01 UTC (rev 30957)
@@ -1010,13 +1010,20 @@
/* VEC * MATRIX */
return row_vector_multiplication(vec1, (MatrixObject*)v2);
} else if (QuaternionObject_Check(v2)) {
- QuaternionObject *quat = (QuaternionObject*)v2; /* quat_rotation validates */
+ /* VEC * QUAT */
+ QuaternionObject *quat2 = (QuaternionObject*)v2;
+ float tvec[4];
if(vec1->size != 3) {
PyErr_SetString(PyExc_TypeError, "Vector multiplication: only 3D vector rotations (with quats) currently supported\n");
return NULL;
}
- return quat_rotation((PyObject*)vec1, (PyObject*)quat);
+ if(!BaseMath_ReadCallback(quat2)) {
+ return NULL;
+ }
+ copy_v3_v3(tvec, vec1->vec);
+ mul_qt_v3(quat2->quat, tvec);
+ return newVectorObject(tvec, 3, Py_NEW, NULL);
}
else if (((scalar= PyFloat_AsDouble(v2)) == -1.0 && PyErr_Occurred())==0) { /* VEC*FLOAT */
int i;
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