diff options
author | Joshua Leung <aligorith@gmail.com> | 2009-09-02 04:42:12 +0400 |
---|---|---|
committer | Joshua Leung <aligorith@gmail.com> | 2009-09-02 04:42:12 +0400 |
commit | bd7d26993f32bda6f0c0ca81e1455fb9f55418e3 (patch) | |
tree | 855f02594014c28fd056b388ad033ffa2402099b /source/blender/blenlib/intern | |
parent | f77fc5c3c9461dce9c694e35db736777214f8b2d (diff) |
2.5 - Rotation Order Tweaks for Armature Bones
* All tools where rotation order matters for armature bones have now been adjusted to use the new code
* Transform now uses the new code for bones too. However, there are some jumping issues here that I'm not too sure how to solve yet. Help fixing this is welcome.
Diffstat (limited to 'source/blender/blenlib/intern')
-rw-r--r-- | source/blender/blenlib/intern/arithb.c | 74 |
1 files changed, 67 insertions, 7 deletions
diff --git a/source/blender/blenlib/intern/arithb.c b/source/blender/blenlib/intern/arithb.c index e0f17864d73..64fb7d78ef1 100644 --- a/source/blender/blenlib/intern/arithb.c +++ b/source/blender/blenlib/intern/arithb.c @@ -2825,7 +2825,8 @@ static RotOrderInfo rotOrders[]= { * NOTE: since we start at 1 for the values, but arrays index from 0, * there is -1 factor involved in this process... */ -#define GET_ROTATIONORDER_INFO(order) (&rotOrders[(order)-1]) +// FIXME: what happens when invalid order given +#define GET_ROTATIONORDER_INFO(order) (((order)>=1) ? &rotOrders[(order)-1] : &rotOrders[0]) /* Construct quaternion from Euler angles (in radians). */ void EulOToQuat(float e[3], short order, float q[4]) @@ -2857,6 +2858,15 @@ void EulOToQuat(float e[3], short order, float q[4]) if (R->parity) q[j] = -q[j]; } +/* Convert quaternion to Euler angles (in radians). */ +void QuatToEulO(float q[4], float e[3], short order) +{ + float M[3][3]; + + QuatToMat3(q, M); + Mat3ToEulO(M, e, order); +} + /* Construct 3x3 matrix from Euler angles (in radians). */ void EulOToMat3(float e[3], short order, float M[3][3]) { @@ -2929,15 +2939,65 @@ void Mat4ToEulO(float M[4][4], float e[3], short order) Mat3ToEulO(m, e, order); } -/* Convert quaternion to Euler angles (in radians). */ -void QuatToEulO(float q[4], float e[3], short order) +/* returns two euler calculation methods, so we can pick the best */ +static void mat3_to_eulo2(float M[3][3], float *e1, float *e2, short order) { - float M[3][3]; + RotOrderInfo *R= GET_ROTATIONORDER_INFO(order); + short i=R->i, j=R->j, k=R->k; + double cy = sqrt(M[i][i]*M[i][i] + M[j][i]*M[j][i]); - QuatToMat3(q, M); - Mat3ToEulO(M, e, order); + if (cy > 16*FLT_EPSILON) { + e1[0] = atan2(M[j][k], M[k][k]); + e1[1] = atan2(-M[i][k], cy); + e1[2] = atan2(M[i][j], M[i][i]); + + e2[0] = atan2(-M[j][k], -M[k][k]); + e2[1] = atan2(-M[i][k], -cy); + e2[2] = atan2(-M[i][j], -M[i][i]); + } + else { + e1[0] = atan2(-M[k][j], M[j][j]); + e1[1] = atan2(-M[i][k], cy); + e1[2] = 0; + + VecCopyf(e2, e1); + } + + 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]; + } +} + +/* uses 2 methods to retrieve eulers, and picks the closest */ +// FIXME: this does not work well with the other rotation modes... +void Mat3ToCompatibleEulO(float mat[3][3], float eul[3], float oldrot[3], short order) +{ + float eul1[3], eul2[3]; + float d1, d2; + + mat3_to_eulo2(mat, eul1, eul2, order); + + compatible_eul(eul1, oldrot); + compatible_eul(eul2, oldrot); + + d1= (float)fabs(eul1[0]-oldrot[0]) + (float)fabs(eul1[1]-oldrot[1]) + (float)fabs(eul1[2]-oldrot[2]); + d2= (float)fabs(eul2[0]-oldrot[0]) + (float)fabs(eul2[1]-oldrot[1]) + (float)fabs(eul2[2]-oldrot[2]); + + /* return best, which is just the one with lowest difference */ + if (d1 > d2) + VecCopyf(eul, eul2); + else + VecCopyf(eul, eul1); } + + /* ************ EULER (old XYZ) *************** */ /* XYZ order */ @@ -3102,7 +3162,7 @@ void euler_rot(float *beul, float ang, char axis) } /* exported to transform.c */ -/* XYZ order */ +/* order independent! */ void compatible_eul(float *eul, float *oldrot) { float dx, dy, dz; |