Math Lib: mat3_to_eulo2 & mat3_to_eul2 mixed float/double differently

replace sqrt with hypotf to avoid precision loss instead

1 files changed, 28 insertions, 35 deletions

diff --git a/source/blender/blenlib/intern/math_rotation.c b/source/blender/blenlib/intern/math_rotation.c
index b971b81fba6..dce2e9d54e3 100644
--- a/source/blender/blenlib/intern/math_rotation.c
+++ b/source/blender/blenlib/intern/math_rotation.c
@@ -1088,25 +1088,24 @@ static void mat3_to_eul2(float tmat[3][3], float eul1[3], float eul2[3])
 
 	mat3_to_quat(quat, tmat);
 	quat_to_mat3(mat, quat);
-	copy_m3_m3(mat, tmat);
-	normalize_m3(mat);
+	normalize_m3_m3(mat, tmat);
 
-	cy = sqrtf(mat[0][0] * mat[0][0] + mat[0][1] * mat[0][1]);
+	cy = hypotf(mat[0][0], mat[0][1]);
 
 	if (cy > 16.0f * FLT_EPSILON) {
 
-		eul1[0] = (float)atan2(mat[1][2], mat[2][2]);
-		eul1[1] = (float)atan2(-mat[0][2], cy);
-		eul1[2] = (float)atan2(mat[0][1], mat[0][0]);
+		eul1[0] = atan2f(mat[1][2], mat[2][2]);
+		eul1[1] = atan2f(-mat[0][2], cy);
+		eul1[2] = atan2f(mat[0][1], mat[0][0]);
 
-		eul2[0] = (float)atan2(-mat[1][2], -mat[2][2]);
-		eul2[1] = (float)atan2(-mat[0][2], -cy);
-		eul2[2] = (float)atan2(-mat[0][1], -mat[0][0]);
+		eul2[0] = atan2f(-mat[1][2], -mat[2][2]);
+		eul2[1] = atan2f(-mat[0][2], -cy);
+		eul2[2] = atan2f(-mat[0][1], -mat[0][0]);
 
 	}
 	else {
-		eul1[0] = (float)atan2(-mat[2][1], mat[1][1]);
-		eul1[1] = (float)atan2(-mat[0][2], cy);
+		eul1[0] = atan2f(-mat[2][1], mat[1][1]);
+		eul1[1] = atan2f(-mat[0][2], cy);
 		eul1[2] = 0.0f;
 
 		copy_v3_v3(eul2, eul1);
@@ -1380,44 +1379,38 @@ void eulO_to_mat3(float M[3][3], const float e[3], const short order)
 }
 
 /* returns two euler calculation methods, so we can pick the best */
-static void mat3_to_eulo2(float M[3][3], float e1[3], float e2[3], const short order)
+static void mat3_to_eulo2(float M[3][3], float eul1[3], float eul2[3], const short order)
 {
 	const RotOrderInfo *R = GET_ROTATIONORDER_INFO(order);
 	short i = R->axis[0], j = R->axis[1], k = R->axis[2];
-	float m[3][3];
-	double cy;
+	float mat[3][3];
+	float cy;
 
 	/* process the matrix first */
-	copy_m3_m3(m, M);
-	normalize_m3(m);
+	normalize_m3_m3(mat, M);
 
-	cy = sqrt(m[i][i] * m[i][i] + m[i][j] * m[i][j]);
+	cy = hypotf(mat[i][i], mat[i][j]);
 
-	if (cy > 16.0 * (double)FLT_EPSILON) {
-		e1[i] = atan2f(m[j][k], m[k][k]);
-		e1[j] = atan2f(-m[i][k], (float)cy);
-		e1[k] = atan2f(m[i][j], m[i][i]);
+	if (cy > 16.0f * FLT_EPSILON) {
+		eul1[i] = atan2f(mat[j][k], mat[k][k]);
+		eul1[j] = atan2f(-mat[i][k], cy);
+		eul1[k] = atan2f(mat[i][j], mat[i][i]);
 
-		e2[i] = atan2f(-m[j][k], -m[k][k]);
-		e2[j] = atan2f(-m[i][k], (float)-cy);
-		e2[k] = atan2f(-m[i][j], -m[i][i]);
+		eul2[i] = atan2f(-mat[j][k], -mat[k][k]);
+		eul2[j] = atan2f(-mat[i][k], -cy);
+		eul2[k] = atan2f(-mat[i][j], -mat[i][i]);
 	}
 	else {
-		e1[i] = atan2f(-m[k][j], m[j][j]);
-		e1[j] = atan2f(-m[i][k], (float)cy);
-		e1[k] = 0;
+		eul1[i] = atan2f(-mat[k][j], mat[j][j]);
+		eul1[j] = atan2f(-mat[i][k], cy);
+		eul1[k] = 0;
 
-		copy_v3_v3(e2, e1);
+		copy_v3_v3(eul2, eul1);
 	}
 
 	if (R->parity) {
-		e1[0] = -e1[0];
-		e1[1] = -e1[1];
-		e1[2] = -e1[2];
-
-		e2[0] = -e2[0];
-		e2[1] = -e2[1];
-		e2[2] = -e2[2];
+		negate_v3(eul1);
+		negate_v3(eul2);
 	}
 }