[Bf-blender-cvs] [fbca69c] master: BLI_math: add mat3_normalized_to_* functions
Campbell Barton
noreply at git.blender.org
Fri Oct 23 22:12:52 CEST 2015
Commit: fbca69c69afb370ddc5a0b52e10d9db61c025752
Author: Campbell Barton
Date: Sat Oct 24 07:02:51 2015 +1100
Branches: master
https://developer.blender.org/rBfbca69c69afb370ddc5a0b52e10d9db61c025752
BLI_math: add mat3_normalized_to_* functions
Many uses of matrices for rotation keep them normalized,
so no need to normalize each time.
===================================================================
M source/blender/blenkernel/intern/armature.c
M source/blender/blenkernel/intern/constraint.c
M source/blender/blenkernel/intern/object.c
M source/blender/blenlib/BLI_math_rotation.h
M source/blender/blenlib/intern/math_matrix.c
M source/blender/blenlib/intern/math_rotation.c
M source/blender/editors/space_view3d/view3d_edit.c
M source/blender/editors/space_view3d/view3d_view.c
M source/blender/python/mathutils/mathutils_Matrix.c
M source/blender/python/mathutils/mathutils_Quaternion.c
===================================================================
diff --git a/source/blender/blenkernel/intern/armature.c b/source/blender/blenkernel/intern/armature.c
index 6afe7f1..fde2578 100644
--- a/source/blender/blenkernel/intern/armature.c
+++ b/source/blender/blenkernel/intern/armature.c
@@ -1325,18 +1325,20 @@ void BKE_armature_mat_pose_to_bone_ex(Object *ob, bPoseChannel *pchan, float inm
/* same as BKE_object_mat3_to_rot() */
void BKE_pchan_mat3_to_rot(bPoseChannel *pchan, float mat[3][3], bool use_compat)
{
+ BLI_ASSERT_UNIT_M3(mat);
+
switch (pchan->rotmode) {
case ROT_MODE_QUAT:
- mat3_to_quat(pchan->quat, mat);
+ mat3_normalized_to_quat(pchan->quat, mat);
break;
case ROT_MODE_AXISANGLE:
- mat3_to_axis_angle(pchan->rotAxis, &pchan->rotAngle, mat);
+ mat3_normalized_to_axis_angle(pchan->rotAxis, &pchan->rotAngle, mat);
break;
default: /* euler */
if (use_compat)
- mat3_to_compatible_eulO(pchan->eul, pchan->eul, pchan->rotmode, mat);
+ mat3_normalized_to_compatible_eulO(pchan->eul, pchan->eul, pchan->rotmode, mat);
else
- mat3_to_eulO(pchan->eul, pchan->rotmode, mat);
+ mat3_normalized_to_eulO(pchan->eul, pchan->rotmode, mat);
break;
}
}
diff --git a/source/blender/blenkernel/intern/constraint.c b/source/blender/blenkernel/intern/constraint.c
index 03406c6..906a9e4 100644
--- a/source/blender/blenkernel/intern/constraint.c
+++ b/source/blender/blenkernel/intern/constraint.c
@@ -3863,7 +3863,7 @@ static void pivotcon_evaluate(bConstraint *con, bConstraintOb *cob, ListBase *ta
/* correct the pivot by the rotation axis otherwise the pivot translates when it shouldnt */
- mat3_to_axis_angle(axis, &angle, rotMat);
+ mat3_normalized_to_axis_angle(axis, &angle, rotMat);
if (angle) {
float dvec[3];
sub_v3_v3v3(vec, pivot, cob->matrix[3]);
diff --git a/source/blender/blenkernel/intern/object.c b/source/blender/blenkernel/intern/object.c
index 61c4073..4ec4137 100644
--- a/source/blender/blenkernel/intern/object.c
+++ b/source/blender/blenkernel/intern/object.c
@@ -1945,11 +1945,13 @@ void BKE_object_rot_to_mat3(Object *ob, float mat[3][3], bool use_drot)
void BKE_object_mat3_to_rot(Object *ob, float mat[3][3], bool use_compat)
{
+ BLI_ASSERT_UNIT_M3(mat);
+
switch (ob->rotmode) {
case ROT_MODE_QUAT:
{
float dquat[4];
- mat3_to_quat(ob->quat, mat);
+ mat3_normalized_to_quat(ob->quat, mat);
normalize_qt_qt(dquat, ob->dquat);
invert_qt_normalized(dquat);
mul_qt_qtqt(ob->quat, dquat, ob->quat);
@@ -1961,7 +1963,7 @@ void BKE_object_mat3_to_rot(Object *ob, float mat[3][3], bool use_compat)
float dquat[4];
/* without drot we could apply 'mat' directly */
- mat3_to_quat(quat, mat);
+ mat3_normalized_to_quat(quat, mat);
axis_angle_to_quat(dquat, ob->drotAxis, ob->drotAngle);
invert_qt_normalized(dquat);
mul_qt_qtqt(quat, dquat, quat);
@@ -1972,18 +1974,16 @@ void BKE_object_mat3_to_rot(Object *ob, float mat[3][3], bool use_compat)
{
float quat[4];
float dquat[4];
- float tmat[3][3];
/* without drot we could apply 'mat' directly */
- mat3_to_quat(quat, mat);
+ mat3_normalized_to_quat(quat, mat);
eulO_to_quat(dquat, ob->drot, ob->rotmode);
invert_qt_normalized(dquat);
mul_qt_qtqt(quat, dquat, quat);
- quat_to_mat3(tmat, quat);
/* end drot correction */
- if (use_compat) mat3_to_compatible_eulO(ob->rot, ob->rot, ob->rotmode, tmat);
- else mat3_to_eulO(ob->rot, ob->rotmode, tmat);
+ if (use_compat) quat_to_compatible_eulO(ob->rot, ob->rot, ob->rotmode, quat);
+ else quat_to_eulO(ob->rot, ob->rotmode, quat);
break;
}
}
diff --git a/source/blender/blenlib/BLI_math_rotation.h b/source/blender/blenlib/BLI_math_rotation.h
index 4c4e305..24c20ee 100644
--- a/source/blender/blenlib/BLI_math_rotation.h
+++ b/source/blender/blenlib/BLI_math_rotation.h
@@ -79,6 +79,8 @@ void add_qt_qtqt(float q[4], const float a[4], const float b[4], const float t);
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_normalized_to_quat(float q[4], float mat[3][3]);
+void mat4_normalized_to_quat(float q[4], float mat[4][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_ex(float quat[4], const float v1[3], const float v2[3], const float v3[3],
@@ -114,9 +116,11 @@ void axis_angle_normalized_to_mat3_ex(float mat[3][3], const float axis[3],
void axis_angle_normalized_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, const float q[4]);
+void mat3_normalized_to_axis_angle(float axis[3], float *angle, float M[3][3]);
+void mat4_normalized_to_axis_angle(float axis[3], float *angle, float M[4][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]);
+void quat_to_axis_angle(float axis[3], float *angle, const float q[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);
@@ -134,12 +138,16 @@ 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], const float quat[4]);
+void mat3_normalized_to_eul(float eul[3], float mat[3][3]);
+void mat4_normalized_to_eul(float eul[3], float mat[4][4]);
void mat3_to_eul(float eul[3], float mat[3][3]);
void mat4_to_eul(float eul[3], float mat[4][4]);
+void quat_to_eul(float eul[3], const float quat[4]);
-void compatible_eul(float eul[3], const float old[3]);
+void mat3_normalized_to_compatible_eul(float eul[3], const float old[3], float mat[3][3]);
void mat3_to_compatible_eul(float eul[3], const float old[3], float mat[3][3]);
+void quat_to_compatible_eul(float eul[3], const float oldrot[3], const float quat[4]);
+void compatible_eul(float eul[3], const float old[3]);
void rotate_eul(float eul[3], const char axis, const float angle);
@@ -164,14 +172,19 @@ 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], const short order, const float quat[4]);
+
+void mat3_normalized_to_eulO(float eul[3], const short order, float mat[3][3]);
+void mat4_normalized_to_eulO(float eul[3], const short order, float mat[4][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 quat_to_eulO(float eul[3], const short order, const float quat[4]);
void axis_angle_to_eulO(float eul[3], const short order, const float axis[3], const float angle);
+void mat3_normalized_to_compatible_eulO(float eul[3], float old[3], const short order, float mat[3][3]);
+void mat4_normalized_to_compatible_eulO(float eul[3], float old[3], const short order, float mat[4][4]);
void mat3_to_compatible_eulO(float eul[3], float old[3], const short order, float mat[3][3]);
void mat4_to_compatible_eulO(float eul[3], float old[3], const short order, float mat[4][4]);
+void quat_to_compatible_eulO(float eul[3], float old[3], const short order, const float quat[4]);
void rotate_eulO(float eul[3], const short order, char axis, float angle);
diff --git a/source/blender/blenlib/intern/math_matrix.c b/source/blender/blenlib/intern/math_matrix.c
index 4bf6d16..19d1169 100644
--- a/source/blender/blenlib/intern/math_matrix.c
+++ b/source/blender/blenlib/intern/math_matrix.c
@@ -1549,7 +1549,7 @@ void mat4_to_loc_quat(float loc[3], float quat[4], float wmat[4][4])
negate_m3(mat3_n);
}
- mat3_to_quat(quat, mat3_n);
+ mat3_normalized_to_quat(quat, mat3_n);
copy_v3_v3(loc, wmat[3]);
}
@@ -1557,7 +1557,7 @@ void mat4_decompose(float loc[3], float quat[4], float size[3], float wmat[4][4]
{
float rot[3][3];
mat4_to_loc_rot_size(loc, rot, size, wmat);
- mat3_to_quat(quat, rot);
+ mat3_normalized_to_quat(quat, rot);
}
/**
@@ -1692,8 +1692,8 @@ void blend_m3_m3m3(float out[3][3], float dst[3][3], float src[3][3], const floa
mat3_to_rot_size(drot, dscale, dst);
mat3_to_rot_size(srot, sscale, src);
- mat3_to_quat(dquat, drot);
- mat3_to_quat(squat, srot);
+ mat3_normalized_to_quat(dquat, drot);
+ mat3_normalized_to_quat(squat, srot);
/* do blending */
interp_qt_qtqt(fquat, dquat, squat, srcweight);
@@ -1715,8 +1715,8 @@ void blend_m4_m4m4(float out[4][4], float dst[4][4], float src[4][4], const floa
mat4_to_loc_rot_size(dloc, drot, dscale, dst);
mat4_to_loc_rot_size(sloc, srot, sscale, src);
- mat3_to_quat(dquat, drot);
- mat3_to_quat(squat, srot);
+ mat3_normalized_to_quat(dquat, drot);
+ mat3_normalized_to_quat(squat, srot);
/* do blending */
interp_v3_v3v3(floc, dloc, sloc, srcweight);
diff --git a/source/blender/blenlib/intern/math_rotation.c b/source/blender/blenlib/intern/math_rotation.c
index 88c577f..f89f622 100644
--- a/source/blender/blenlib/intern/math_rotation.c
+++ b/source/blender/blenlib/intern/math_rotation.c
@@ -293,14 +293,11 @@ void quat_to_mat4(float m[4][4], const float q[4])
m[3][3] = 1.0f;
}
-void mat3_to_quat(float q[4], float wmat[3][3])
+void mat3_normalized_to_quat(float q[4], float mat[3][3])
{
double tr, s;
- float mat[3][3];
- /* work on a copy */
- copy_m3_m3(mat, wmat);
- normalize_m3(mat); /* this is needed AND a 'normalize_qt' in the end */
+ BLI_ASSERT_UNIT_M3(mat);
tr = 0.25 * (double)(1.0f + mat[0][0] + mat[1][1] + mat[2][2]);
@@ -344,13 +341,30 @@ void mat3_to_quat(float q[4], float wmat[3][3])
normalize_qt(q);
}
+void mat3_to_quat(float q[4], float m[3][3])
+{
+ float unit_mat[3][3];
+
+ /* work on a copy */
+ /* this is needed AND a 'normalize_qt' in the end */
+ normalize_m3_m3(unit_mat, m);
+ mat3_normalized_to_quat(q, unit_mat);
+}
+
+void mat4_norma
@@ Diff output truncated at 10240 characters. @@
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