[Bf-blender-cvs] [80470b6] master: BLI_math: axis_angle_to_quat_single
Campbell Barton
noreply at git.blender.org
Thu Oct 22 18:18:47 CEST 2015
Commit: 80470b639c1c5091541c56ae80212fa8e5148913
Author: Campbell Barton
Date: Fri Oct 23 03:08:17 2015 +1100
Branches: master
https://developer.blender.org/rB80470b639c1c5091541c56ae80212fa8e5148913
BLI_math: axis_angle_to_quat_single
Useful to avoid defining a vector for an axis-aligned rotation.
Matches axis_angle_to_mat3_single behavior.
===================================================================
M source/blender/blenlib/BLI_math_rotation.h
M source/blender/blenlib/intern/math_rotation.c
M source/blender/editors/space_view3d/view3d_edit.c
M source/blender/editors/space_view3d/view3d_fly.c
M source/blender/editors/space_view3d/view3d_walk.c
===================================================================
diff --git a/source/blender/blenlib/BLI_math_rotation.h b/source/blender/blenlib/BLI_math_rotation.h
index fbd026f..ac9295c 100644
--- a/source/blender/blenlib/BLI_math_rotation.h
+++ b/source/blender/blenlib/BLI_math_rotation.h
@@ -119,6 +119,8 @@ void mat4_to_axis_angle(float axis[3], float *angle, float M[4][4]);
void axis_angle_to_mat3_single(float R[3][3], const char axis, const float angle);
void angle_to_mat2(float R[2][2], const float angle);
+void axis_angle_to_quat_single(float q[4], const char axis, const float angle);
+
/****************************** Exponential Map ******************************/
void quat_to_expmap(float expmap[3], const float q[4]);
void quat_normalized_to_expmap(float expmap[3], const float q[4]);
diff --git a/source/blender/blenlib/intern/math_rotation.c b/source/blender/blenlib/intern/math_rotation.c
index 575710e..949473a 100644
--- a/source/blender/blenlib/intern/math_rotation.c
+++ b/source/blender/blenlib/intern/math_rotation.c
@@ -1016,6 +1016,20 @@ void angle_to_mat2(float mat[2][2], const float angle)
mat[1][1] = angle_cos;
}
+void axis_angle_to_quat_single(float q[4], const char axis, const float angle)
+{
+ const float angle_half = angle * 0.5f;
+ const float angle_cos = cosf(angle_half);
+ const float angle_sin = sinf(angle_half);
+ const int axis_index = (axis - 'X');
+
+ assert(axis >= 'X' && axis <= 'Z');
+
+ q[0] = angle_cos;
+ zero_v3(q + 1);
+ q[axis_index + 1] = angle_sin;
+}
+
/****************************** Exponential Map ******************************/
void quat_normalized_to_expmap(float expmap[3], const float q[4])
diff --git a/source/blender/editors/space_view3d/view3d_edit.c b/source/blender/editors/space_view3d/view3d_edit.c
index cee0af9..aa53362 100644
--- a/source/blender/editors/space_view3d/view3d_edit.c
+++ b/source/blender/editors/space_view3d/view3d_edit.c
@@ -1097,7 +1097,7 @@ static void viewrotate_apply(ViewOpsData *vod, int x, int y)
mul_qt_qtqt(quat_local_x, vod->viewquat, quat_local_x);
/* Perform the orbital rotation */
- axis_angle_normalized_to_quat(quat_global_z, zvec_global, sensitivity * vod->reverse * (x - vod->oldx));
+ axis_angle_to_quat_single(quat_global_z, 'Z', sensitivity * vod->reverse * (x - vod->oldx));
mul_qt_qtqt(vod->viewquat, quat_local_x, quat_global_z);
viewrotate_apply_dyn_ofs(vod, vod->viewquat);
@@ -1482,10 +1482,7 @@ static void view3d_ndof_orbit(const struct wmNDOFMotionData *ndof, ScrArea *sa,
rv3d->rot_axis[1] = 0;
rv3d->rot_axis[2] = 1;
- quat[0] = cosf(angle);
- quat[1] = 0.0f;
- quat[2] = 0.0f;
- quat[3] = sinf(angle);
+ axis_angle_to_quat_single(quat, 'Z', angle * 2);
mul_qt_qtqt(rv3d->viewquat, rv3d->viewquat, quat);
}
@@ -3992,14 +3989,12 @@ static int vieworbit_exec(bContext *C, wmOperator *op)
}
if (ELEM(orbitdir, V3D_VIEW_STEPLEFT, V3D_VIEW_STEPRIGHT)) {
- const float zvec[3] = {0.0f, 0.0f, 1.0f};
-
if (orbitdir == V3D_VIEW_STEPRIGHT) {
angle = -angle;
}
/* z-axis */
- axis_angle_normalized_to_quat(quat_mul, zvec, angle);
+ axis_angle_to_quat_single(quat_mul, 'Z', angle);
}
else {
diff --git a/source/blender/editors/space_view3d/view3d_fly.c b/source/blender/editors/space_view3d/view3d_fly.c
index e6910cf..f3ee99f 100644
--- a/source/blender/editors/space_view3d/view3d_fly.c
+++ b/source/blender/editors/space_view3d/view3d_fly.c
@@ -720,8 +720,6 @@ static int flyApply(bContext *C, FlyInfo *fly)
float dvec[3] = {0, 0, 0}; /* this is the direction thast added to the view offset per redraw */
/* Camera Uprighting variables */
- float upvec[3] = {0, 0, 0}; /* stores the view's up vector */
-
float moffset[2]; /* mouse offset from the views center */
float tmp_quat[4]; /* used for rotating the view */
@@ -815,6 +813,7 @@ static int flyApply(bContext *C, FlyInfo *fly)
/* rotate about the X axis- look up/down */
if (moffset[1]) {
+ float upvec[3];
copy_v3_fl3(upvec, 1.0f, 0.0f, 0.0f);
mul_m3_v3(mat, upvec);
/* Rotate about the relative up vec */
@@ -830,7 +829,7 @@ static int flyApply(bContext *C, FlyInfo *fly)
/* rotate about the Y axis- look left/right */
if (moffset[0]) {
-
+ float upvec[3];
/* if we're upside down invert the moffset */
copy_v3_fl3(upvec, 0.0f, 1.0f, 0.0f);
mul_m3_v3(mat, upvec);
@@ -858,6 +857,7 @@ static int flyApply(bContext *C, FlyInfo *fly)
}
if (fly->zlock == FLY_AXISLOCK_STATE_ACTIVE) {
+ float upvec[3];
copy_v3_fl3(upvec, 1.0f, 0.0f, 0.0f);
mul_m3_v3(mat, upvec);
@@ -882,6 +882,7 @@ static int flyApply(bContext *C, FlyInfo *fly)
/* only apply xcorrect when mouse isn't applying x rot */
if (fly->xlock == FLY_AXISLOCK_STATE_ACTIVE && moffset[1] == 0) {
+ float upvec[3];
copy_v3_fl3(upvec, 0.0f, 0.0f, 1.0f);
mul_m3_v3(mat, upvec);
/* make sure we have some z rolling */
diff --git a/source/blender/editors/space_view3d/view3d_walk.c b/source/blender/editors/space_view3d/view3d_walk.c
index 0bda6e3..4d36d70 100644
--- a/source/blender/editors/space_view3d/view3d_walk.c
+++ b/source/blender/editors/space_view3d/view3d_walk.c
@@ -972,9 +972,6 @@ static int walkApply(bContext *C, wmOperator *op, WalkInfo *walk)
float mat[3][3]; /* 3x3 copy of the view matrix so we can move along the view axis */
float dvec[3] = {0.0f, 0.0f, 0.0f}; /* this is the direction that's added to the view offset per redraw */
- /* Camera Uprighting variables */
- float upvec[3] = {0.0f, 0.0f, 0.0f}; /* stores the view's up vector */
-
int moffset[2]; /* mouse offset from the views center */
float tmp_quat[4]; /* used for rotating the view */
@@ -1033,6 +1030,7 @@ static int walkApply(bContext *C, wmOperator *op, WalkInfo *walk)
{
/* rotate about the X axis- look up/down */
if (moffset[1]) {
+ float upvec[3];
float angle;
float y;
@@ -1064,6 +1062,7 @@ static int walkApply(bContext *C, wmOperator *op, WalkInfo *walk)
/* rotate about the Y axis- look left/right */
if (moffset[0]) {
+ float upvec[3];
float x;
/* if we're upside down invert the moffset */
@@ -1082,10 +1081,8 @@ static int walkApply(bContext *C, wmOperator *op, WalkInfo *walk)
/* user adjustement factor */
x *= walk->mouse_speed;
- copy_v3_fl3(upvec, 0.0f, 0.0f, 1.0f);
-
/* Rotate about the relative up vec */
- axis_angle_normalized_to_quat(tmp_quat, upvec, x);
+ axis_angle_to_quat_single(tmp_quat, 'Z', x);
mul_qt_qtqt(rv3d->viewquat, rv3d->viewquat, tmp_quat);
}
}
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