rename axis_angle_to_mat3_no_norm() --> axis_angle_normalized_to_mat3().

this matches closer to convention from existing functions - angle_v3v3() angle_normalized_v3v3().

also added assert to ensure argument given to axis_angle_normalized_to_mat3() is in fact normalized.

1 files changed, 5 insertions, 20 deletions

diff --git a/source/blender/blenlib/intern/math_rotation.c b/source/blender/blenlib/intern/math_rotation.c
index 2d044a13841..93954499d53 100644
--- a/source/blender/blenlib/intern/math_rotation.c
+++ b/source/blender/blenlib/intern/math_rotation.c
@@ -750,10 +750,12 @@ void eulO_to_axis_angle(float axis[3], float *angle, const float eul[3], const s
 }
 
 /* axis angle to 3x3 matrix - note: requires that axis is normalized */
-void axis_angle_to_mat3_no_norm(float mat[3][3], const float nor[3], const float angle)
+void axis_angle_normalized_to_mat3(float mat[3][3], const float nor[3], const float angle)
 {
 	float nsi[3], co, si, ico;
 
+	BLI_ASSERT_UNIT_V3(nor);
+
 	/* now convert this to a 3x3 matrix */
 	co = cosf(angle);
 	si = sinf(angle);
@@ -778,7 +780,7 @@ void axis_angle_to_mat3_no_norm(float mat[3][3], const float nor[3], const float
 /* axis angle to 3x3 matrix - safer version (normalization of axis performed) */
 void axis_angle_to_mat3(float mat[3][3], const float axis[3], const float angle)
 {
-	float nor[3], nsi[3], co, si, ico;
+	float nor[3];
 
 	/* normalize the axis first (to remove unwanted scaling) */
 	if (normalize_v3_v3(nor, axis) == 0.0f) {
@@ -786,24 +788,7 @@ void axis_angle_to_mat3(float mat[3][3], const float axis[3], const float angle)
 		return;
 	}
 
-	/* now convert this to a 3x3 matrix */
-	co = cosf(angle);
-	si = sinf(angle);
-
-	ico = (1.0f - co);
-	nsi[0] = nor[0] * si;
-	nsi[1] = nor[1] * si;
-	nsi[2] = nor[2] * si;
-
-	mat[0][0] = ((nor[0] * nor[0]) * ico) + co;
-	mat[0][1] = ((nor[0] * nor[1]) * ico) + nsi[2];
-	mat[0][2] = ((nor[0] * nor[2]) * ico) - nsi[1];
-	mat[1][0] = ((nor[0] * nor[1]) * ico) - nsi[2];
-	mat[1][1] = ((nor[1] * nor[1]) * ico) + co;
-	mat[1][2] = ((nor[1] * nor[2]) * ico) + nsi[0];
-	mat[2][0] = ((nor[0] * nor[2]) * ico) + nsi[1];
-	mat[2][1] = ((nor[1] * nor[2]) * ico) - nsi[0];
-	mat[2][2] = ((nor[2] * nor[2]) * ico) + co;
+	axis_angle_normalized_to_mat3(mat, nor, angle);
 }
 
 /* axis angle to 4x4 matrix - safer version (normalization of axis performed) */