[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [41460] trunk/blender/source/blender/ python/mathutils/mathutils_Quaternion.c: new math function: Quaternion. to_axis_angle().
Campbell Barton
ideasman42 at gmail.com
Wed Nov 2 10:13:05 CET 2011
Revision: 41460
http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=41460
Author: campbellbarton
Date: 2011-11-02 09:13:04 +0000 (Wed, 02 Nov 2011)
Log Message:
-----------
new math function: Quaternion.to_axis_angle().
add in safety checks for inf/nan values which could happen in some cases.
Modified Paths:
--------------
trunk/blender/source/blender/python/mathutils/mathutils_Quaternion.c
Modified: trunk/blender/source/blender/python/mathutils/mathutils_Quaternion.c
===================================================================
--- trunk/blender/source/blender/python/mathutils/mathutils_Quaternion.c 2011-11-02 06:19:04 UTC (rev 41459)
+++ trunk/blender/source/blender/python/mathutils/mathutils_Quaternion.c 2011-11-02 09:13:04 UTC (rev 41460)
@@ -39,6 +39,7 @@
#define QUAT_SIZE 4
static PyObject *quat__apply_to_copy(PyNoArgsFunction quat_func, QuaternionObject *self);
+static void quat__axis_angle_sanitize(float axis[3], float *angle);
static PyObject *Quaternion_copy(QuaternionObject *self);
//-----------------------------METHODS------------------------------
@@ -141,6 +142,39 @@
return newMatrixObject(mat, 3, 3, Py_NEW, NULL);
}
+//----------------------------Quaternion.toMatrix()------------------
+PyDoc_STRVAR(Quaternion_to_axis_angle_doc,
+".. method:: to_axis_angle()\n"
+"\n"
+" Return the axis, angle representation of the quaternion.\n"
+"\n"
+" :return: axis, angle.\n"
+" :rtype: (:class:`Vector`, float) pair\n"
+);
+static PyObject *Quaternion_to_axis_angle(QuaternionObject *self)
+{
+ PyObject *ret;
+
+ float tquat[4];
+
+ float axis[3];
+ float angle;
+
+ if (BaseMath_ReadCallback(self) == -1)
+ return NULL;
+
+ normalize_qt_qt(tquat, self->quat);
+ quat_to_axis_angle(axis, &angle, tquat);
+
+ quat__axis_angle_sanitize(axis, &angle);
+
+ ret= PyTuple_New(2);
+ PyTuple_SET_ITEM(ret, 0, newVectorObject(axis, 3, Py_NEW, NULL));
+ PyTuple_SET_ITEM(ret, 1, PyFloat_FromDouble(angle));
+ return ret;
+}
+
+
//----------------------------Quaternion.cross(other)------------------
PyDoc_STRVAR(Quaternion_cross_doc,
".. method:: cross(other)\n"
@@ -881,12 +915,18 @@
static PyObject *Quaternion_getAngle(QuaternionObject *self, void *UNUSED(closure))
{
float tquat[4];
+ float angle;
if (BaseMath_ReadCallback(self) == -1)
return NULL;
normalize_qt_qt(tquat, self->quat);
- return PyFloat_FromDouble(2.0f * (saacos(tquat[0])));
+
+ angle= 2.0f * saacos(tquat[0]);
+
+ quat__axis_angle_sanitize(NULL, &angle);
+
+ return PyFloat_FromDouble(angle);
}
static int Quaternion_setAngle(QuaternionObject *self, PyObject *value, void *UNUSED(closure))
@@ -895,7 +935,7 @@
float len;
float axis[3], angle_dummy;
- double angle;
+ float angle;
if (BaseMath_ReadCallback(self) == -1)
return -1;
@@ -913,13 +953,7 @@
angle= angle_wrap_rad(angle);
- /* If the axis of rotation is 0,0,0 set it to 1,0,0 - for zero-degree rotations */
- if ( EXPP_FloatsAreEqual(axis[0], 0.0f, 10) &&
- EXPP_FloatsAreEqual(axis[1], 0.0f, 10) &&
- EXPP_FloatsAreEqual(axis[2], 0.0f, 10)
- ) {
- axis[0] = 1.0f;
- }
+ quat__axis_angle_sanitize(axis, &angle);
axis_angle_to_quat(self->quat, axis, angle);
mul_qt_fl(self->quat, len);
@@ -935,21 +969,15 @@
float tquat[4];
float axis[3];
- float angle;
+ float angle_dummy;
if (BaseMath_ReadCallback(self) == -1)
return NULL;
normalize_qt_qt(tquat, self->quat);
- quat_to_axis_angle(axis, &angle, tquat);
+ quat_to_axis_angle(axis, &angle_dummy, tquat);
- /* If the axis of rotation is 0,0,0 set it to 1,0,0 - for zero-degree rotations */
- if ( EXPP_FloatsAreEqual(axis[0], 0.0f, 10) &&
- EXPP_FloatsAreEqual(axis[1], 0.0f, 10) &&
- EXPP_FloatsAreEqual(axis[2], 0.0f, 10)
- ) {
- axis[0] = 1.0f;
- }
+ quat__axis_angle_sanitize(axis, NULL);
return (PyObject *) newVectorObject(axis, 3, Py_NEW, NULL);
}
@@ -971,6 +999,8 @@
if (mathutils_array_parse(axis, 3, 3, value, "quat.axis = other") == -1)
return -1;
+ quat__axis_angle_sanitize(axis, &angle);
+
axis_angle_to_quat(self->quat, axis, angle);
mul_qt_fl(self->quat, len);
@@ -1029,6 +1059,33 @@
}
}
+/* axis vector suffers from precission errors, use this function to ensure */
+static void quat__axis_angle_sanitize(float axis[3], float *angle)
+{
+ if (axis) {
+ if ( !finite(axis[0]) ||
+ !finite(axis[1]) ||
+ !finite(axis[2]))
+ {
+ axis[0]= 1.0f;
+ axis[1]= 0.0f;
+ axis[2]= 0.0f;
+ }
+ else if ( EXPP_FloatsAreEqual(axis[0], 0.0f, 10) &&
+ EXPP_FloatsAreEqual(axis[1], 0.0f, 10) &&
+ EXPP_FloatsAreEqual(axis[2], 0.0f, 10)
+ ) {
+ axis[0] = 1.0f;
+ }
+ }
+
+ if (angle) {
+ if (!finite(*angle)) {
+ *angle= 0.0f;
+ }
+ }
+}
+
//-----------------------METHOD DEFINITIONS ----------------------
static struct PyMethodDef Quaternion_methods[] = {
/* in place only */
@@ -1048,6 +1105,7 @@
/* return converted representation */
{"to_euler", (PyCFunction) Quaternion_to_euler, METH_VARARGS, Quaternion_to_euler_doc},
{"to_matrix", (PyCFunction) Quaternion_to_matrix, METH_NOARGS, Quaternion_to_matrix_doc},
+ {"to_axis_angle", (PyCFunction) Quaternion_to_axis_angle, METH_NOARGS, Quaternion_to_axis_angle_doc},
/* operation between 2 or more types */
{"cross", (PyCFunction) Quaternion_cross, METH_O, Quaternion_cross_doc},
More information about the Bf-blender-cvs
mailing list