[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [32645] trunk/blender/source/blender: Fix for snapping pose bones with axis-angle rotation.
Campbell Barton
ideasman42 at gmail.com
Fri Oct 22 05:56:52 CEST 2010
Revision: 32645
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=32645
Author: campbellbarton
Date: 2010-10-22 05:56:50 +0200 (Fri, 22 Oct 2010)
Log Message:
-----------
Fix for snapping pose bones with axis-angle rotation.
- armature_mat_pose_to_bone() was missing axis-angle check.
- added loc_axisangle_size_to_mat4() for completeness.
- use 'const' prefix where possible in math rotation functions.
Modified Paths:
--------------
trunk/blender/source/blender/blenkernel/intern/armature.c
trunk/blender/source/blender/blenlib/BLI_math_matrix.h
trunk/blender/source/blender/blenlib/BLI_math_rotation.h
trunk/blender/source/blender/blenlib/intern/math_matrix.c
trunk/blender/source/blender/blenlib/intern/math_rotation.c
trunk/blender/source/blender/editors/space_view3d/view3d_snap.c
Modified: trunk/blender/source/blender/blenkernel/intern/armature.c
===================================================================
--- trunk/blender/source/blender/blenkernel/intern/armature.c 2010-10-22 03:27:01 UTC (rev 32644)
+++ trunk/blender/source/blender/blenkernel/intern/armature.c 2010-10-22 03:56:50 UTC (rev 32645)
@@ -1108,12 +1108,19 @@
/* paranoia: prevent crashes with no pose-channel supplied */
if (pchan==NULL) return;
-
+
/* get the inverse matrix of the pchan's transforms */
- if (pchan->rotmode)
+ switch(pchan->rotmode) {
+ case ROT_MODE_QUAT:
+ loc_quat_size_to_mat4(pc_trans, pchan->loc, pchan->quat, pchan->size);
+ break;
+ case ROT_MODE_AXISANGLE:
+ loc_axisangle_size_to_mat4(pc_trans, pchan->loc, pchan->rotAxis, pchan->rotAngle, pchan->size);
+ break;
+ default: /* euler */
loc_eul_size_to_mat4(pc_trans, pchan->loc, pchan->eul, pchan->size);
- else
- loc_quat_size_to_mat4(pc_trans, pchan->loc, pchan->quat, pchan->size);
+ }
+
invert_m4_m4(inv_trans, pc_trans);
/* Remove the pchan's transforms from it's pose_mat.
Modified: trunk/blender/source/blender/blenlib/BLI_math_matrix.h
===================================================================
--- trunk/blender/source/blender/blenlib/BLI_math_matrix.h 2010-10-22 03:27:01 UTC (rev 32644)
+++ trunk/blender/source/blender/blenlib/BLI_math_matrix.h 2010-10-22 03:56:50 UTC (rev 32645)
@@ -135,8 +135,8 @@
float mat3_to_scale(float M[3][3]);
float mat4_to_scale(float M[4][4]);
-void size_to_mat3(float R[3][3], float size[3]);
-void size_to_mat4(float R[4][4], float size[3]);
+void size_to_mat3(float R[3][3], const float size[3]);
+void size_to_mat4(float R[4][4], const float size[3]);
void mat3_to_size(float r[3], float M[3][3]);
void mat4_to_size(float r[3], float M[4][4]);
@@ -145,11 +145,13 @@
void rotate_m4(float mat[4][4], char axis, float angle);
void loc_eul_size_to_mat4(float R[4][4],
- float loc[3], float eul[3], float size[3]);
+ const float loc[3], const float eul[3], const float size[3]);
void loc_eulO_size_to_mat4(float R[4][4],
- float loc[3], float eul[3], float size[3], short order);
+ const float loc[3], const float eul[3], const float size[3], const short order);
void loc_quat_size_to_mat4(float R[4][4],
- float loc[3], float quat[4], float size[3]);
+ const float loc[3], const float quat[4], const float size[3]);
+void loc_axisangle_size_to_mat4(float R[4][4],
+ const float loc[3], const float axis[4], const float angle, const float size[3]);
void blend_m3_m3m3(float R[3][3], float A[3][3], float B[3][3], float t);
void blend_m4_m4m4(float R[4][4], float A[4][4], float B[4][4], float t);
Modified: trunk/blender/source/blender/blenlib/BLI_math_rotation.h
===================================================================
--- trunk/blender/source/blender/blenlib/BLI_math_rotation.h 2010-10-22 03:27:01 UTC (rev 32644)
+++ trunk/blender/source/blender/blenlib/BLI_math_rotation.h 2010-10-22 03:56:50 UTC (rev 32645)
@@ -48,29 +48,29 @@
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]);
+void sub_qt_qtqt(float q[4], const float a[4], const float b[4]);
void invert_qt(float q[4]);
void invert_qt_qt(float *q1, const float *q2);
void conjugate_qt(float q[4]);
-float dot_qtqt(float a[4], float b[4]);
+float dot_qtqt(const float a[4], const float b[4]);
void normalize_qt(float q[4]);
/* comparison */
int is_zero_qt(float q[4]);
/* interpolation */
-void interp_qt_qtqt(float q[4], float a[4], float b[4], float t);
-void add_qt_qtqt(float q[4], float a[4], float b[4], float t);
+void interp_qt_qtqt(float q[4], const float a[4], const float b[4], const float t);
+void add_qt_qtqt(float q[4], const float a[4], const float b[4], const float t);
/* conversion */
-void quat_to_mat3(float mat[3][3], float q[4]);
-void quat_to_mat4(float mat[4][4], float q[4]);
+void quat_to_mat3(float mat[3][3], const float q[4]);
+void quat_to_mat4(float mat[4][4], const float q[4]);
void mat3_to_quat(float q[4], float mat[3][3]);
void mat4_to_quat(float q[4], float mat[4][4]);
-void tri_to_quat(float q[4], float a[3], float b[3], float c[3]);
-void vec_to_quat(float q[4], float vec[3], short axis, short upflag);
+void 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_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]);
@@ -84,11 +84,11 @@
/******************************** Axis Angle *********************************/
/* conversion */
-void axis_angle_to_quat(float r[4], float axis[3], float angle);
-void axis_angle_to_mat3(float R[3][3], float axis[3], float angle);
-void axis_angle_to_mat4(float R[4][4], float axis[3], float angle);
+void axis_angle_to_quat(float r[4], const float axis[3], float angle);
+void axis_angle_to_mat3(float R[3][3], const float axis[3], const float angle);
+void axis_angle_to_mat4(float R[4][4], const float axis[3], const float angle);
-void quat_to_axis_angle(float axis[3], float *angle, float q[4]);
+void quat_to_axis_angle(float axis[3], float *angle, const float q[4]);
void mat3_to_axis_angle(float axis[3], float *angle, float M[3][3]);
void mat4_to_axis_angle(float axis[3], float *angle, float M[4][4]);
@@ -100,24 +100,24 @@
void mat3_to_vec_rot(float vec[3], float *phi, float mat[3][3]);
void mat4_to_vec_rot(float vec[3], float *phi, float mat[4][4]);
-void vec_rot_to_quat(float quat[4], float vec[3], float phi);
-void vec_rot_to_mat3(float mat[3][3], float vec[3], float phi);
-void vec_rot_to_mat4(float mat[4][4], float vec[3], float phi);
+void vec_rot_to_quat(float quat[4], const float vec[3], const float phi);
+void vec_rot_to_mat3(float mat[3][3], const float vec[3], const float phi);
+void vec_rot_to_mat4(float mat[4][4], const float vec[3], const float phi);
/******************************** XYZ Eulers *********************************/
-void eul_to_quat(float quat[4], float eul[3]);
-void eul_to_mat3(float mat[3][3], float eul[3]);
-void eul_to_mat4(float mat[4][4], float eul[3]);
+void eul_to_quat(float quat[4], const float eul[3]);
+void eul_to_mat3(float mat[3][3], const float eul[3]);
+void eul_to_mat4(float mat[4][4], const float eul[3]);
-void quat_to_eul(float eul[3], float quat[4]);
+void quat_to_eul(float eul[3], const float quat[4]);
void mat3_to_eul(float eul[3], float mat[3][3]);
void mat4_to_eul(float eul[3], float mat[4][4]);
-void compatible_eul(float eul[3], float old[3]);
-void mat3_to_compatible_eul(float eul[3], float old[3], float mat[3][3]);
+void compatible_eul(float eul[3], const float old[3]);
+void mat3_to_compatible_eul(float eul[3], const float old[3], float mat[3][3]);
-void rotate_eul(float eul[3], char axis, float angle);
+void rotate_eul(float eul[3], const char axis, const float angle);
/************************** Arbitrary Order Eulers ***************************/
@@ -135,16 +135,16 @@
/* there are 6 more entries with dulpicate entries included */
} eEulerRotationOrders;
-void eulO_to_quat(float quat[4], float eul[3], short order);
-void eulO_to_mat3(float mat[3][3], float eul[3], short order);
-void eulO_to_mat4(float mat[4][4], float eul[3], short order);
-void eulO_to_axis_angle(float axis[3], float *angle, float eul[3], short order);
-void eulO_to_gimbal_axis(float gmat[3][3], float eul[3], short order);
+void eulO_to_quat(float quat[4], const float eul[3], const short order);
+void eulO_to_mat3(float mat[3][3], const float eul[3], const short order);
+void eulO_to_mat4(float mat[4][4], const float eul[3], const short order);
+void eulO_to_axis_angle(float axis[3], float *angle, const float eul[3], const short order);
+void eulO_to_gimbal_axis(float gmat[3][3], const float eul[3], const short order);
-void quat_to_eulO(float eul[3], short order, float quat[4]);
-void mat3_to_eulO(float eul[3], short order, float mat[3][3]);
-void mat4_to_eulO(float eul[3], short order, float mat[4][4]);
-void axis_angle_to_eulO(float eul[3], short order, float axis[3], float angle);
+void quat_to_eulO(float eul[3], const short order, const float quat[4]);
+void mat3_to_eulO(float eul[3], const short order, float mat[3][3]);
+void mat4_to_eulO(float eul[3], const short order, float mat[4][4]);
+void axis_angle_to_eulO(float eul[3], const short order, const float axis[3], const float angle);
void mat3_to_compatible_eulO(float eul[3], float old[3], short order, float mat[3][3]);
void mat4_to_compatible_eulO(float eul[3], float old[3], short order, float mat[4][4]);
Modified: trunk/blender/source/blender/blenlib/intern/math_matrix.c
===================================================================
--- trunk/blender/source/blender/blenlib/intern/math_matrix.c 2010-10-22 03:27:01 UTC (rev 32644)
+++ trunk/blender/source/blender/blenlib/intern/math_matrix.c 2010-10-22 03:56:50 UTC (rev 32645)
@@ -898,7 +898,7 @@
/****************************** Transformations ******************************/
-void size_to_mat3(float mat[][3], float *size)
+void size_to_mat3(float mat[][3], const float size[3])
{
mat[0][0]= size[0];
mat[0][1]= 0.0f;
@@ -911,7 +911,7 @@
mat[2][0]= 0.0f;
}
-void size_to_mat4(float mat[][4], float *size)
+void size_to_mat4(float mat[][4], const float size[3])
{
float tmat[3][3];
@@ -1078,7 +1078,7 @@
/* make a 4x4 matrix out of 3 transform components */
/* matrices are made in the order: scale * rot * loc */
// TODO: need to have a version that allows for rotation order...
-void loc_eul_size_to_mat4(float mat[4][4], float loc[3], float eul[3], float size[3])
+void loc_eul_size_to_mat4(float mat[4][4], const float loc[3], const float eul[3], const float size[3])
{
float rmat[3][3], smat[3][3], tmat[3][3];
@@ -1101,7 +1101,7 @@
/* make a 4x4 matrix out of 3 transform components */
/* matrices are made in the order: scale * rot * loc */
-void loc_eulO_size_to_mat4(float mat[4][4], float loc[3], float eul[3], float size[3], short rotOrder)
+void loc_eulO_size_to_mat4(float mat[4][4], const float loc[3], const float eul[3], const float size[3], const short rotOrder)
{
float rmat[3][3], smat[3][3], tmat[3][3];
@@ -1125,7 +1125,7 @@
@@ Diff output truncated at 10240 characters. @@
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