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author | Sergej Reich <sergej.reich@googlemail.com> | 2013-01-23 09:56:05 +0400 |
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committer | Sergej Reich <sergej.reich@googlemail.com> | 2013-01-23 09:56:05 +0400 |
commit | e83e3b0cf74c7150d2ee047c4a0b84e7b0de8951 (patch) | |
tree | 8fa42f2e4b6e6670acbac46bb899413047a14f7b /source/blender/blenlib | |
parent | 281e094e16b49bd1c3aa211d5d000c4a211c97ef (diff) |
math: Add functions to decompose transformation matrices
mat4_decompose() is similar to mat4_to_loc_rot_size() but returns
rotation as quaternion.
mat4_to_loc_quat() just returns location and rotation without size.
Diffstat (limited to 'source/blender/blenlib')
-rw-r--r-- | source/blender/blenlib/BLI_math_matrix.h | 2 | ||||
-rw-r--r-- | source/blender/blenlib/intern/math_matrix.c | 27 |
2 files changed, 29 insertions, 0 deletions
diff --git a/source/blender/blenlib/BLI_math_matrix.h b/source/blender/blenlib/BLI_math_matrix.h index c12ec62ca1b..415c503146c 100644 --- a/source/blender/blenlib/BLI_math_matrix.h +++ b/source/blender/blenlib/BLI_math_matrix.h @@ -173,6 +173,8 @@ void rotate_m4(float mat[4][4], const char axis, const float angle); void mat3_to_rot_size(float rot[3][3], float size[3], float mat3[3][3]); void mat4_to_loc_rot_size(float loc[3], float rot[3][3], float size[3], float wmat[4][4]); +void mat4_to_loc_quat(float loc[3], float quat[4], float wmat[4][4]); +void mat4_decompose(float loc[3], float quat[4], float size[3], float wmat[4][4]); void loc_eul_size_to_mat4(float R[4][4], const float loc[3], const float eul[3], const float size[3]); diff --git a/source/blender/blenlib/intern/math_matrix.c b/source/blender/blenlib/intern/math_matrix.c index 6784c4145a5..03f8d63024e 100644 --- a/source/blender/blenlib/intern/math_matrix.c +++ b/source/blender/blenlib/intern/math_matrix.c @@ -1212,6 +1212,33 @@ void mat4_to_loc_rot_size(float loc[3], float rot[3][3], float size[3], float wm copy_v3_v3(loc, wmat[3]); } +void mat4_to_loc_quat(float loc[3], float quat[4], float wmat[4][4]) +{ + float mat3[3][3]; + float mat3_n[3][3]; /* normalized mat3 */ + + copy_m3_m4(mat3, wmat); + normalize_m3_m3(mat3_n, mat3); + + /* so scale doesn't interfere with rotation [#24291] */ + /* note: this is a workaround for negative matrix not working for rotation conversion, FIXME */ + if (is_negative_m3(mat3)) { + negate_v3(mat3_n[0]); + negate_v3(mat3_n[1]); + negate_v3(mat3_n[2]); + } + + mat3_to_quat(quat, mat3_n); + copy_v3_v3(loc, wmat[3]); +} + +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); +} + void scale_m3_fl(float m[3][3], float scale) { m[0][0] = m[1][1] = m[2][2] = scale; |