2.5 - More work on Axis-Angle Rotations

* Added a few new methods for axis-angle conversions, and used these instead of manually performing those steps elsewhere
* Axis-angles to other representations now get their axes normalised to make sure that odd scaling doesn't occur.
* Made a few more tools work with axis-angles properly

5 files changed, 38 insertions, 10 deletions

diff --git a/source/blender/editors/animation/keyingsets.c b/source/blender/editors/animation/keyingsets.c
index 2639d49b5be..60efcce4e73 100644
--- a/source/blender/editors/animation/keyingsets.c
+++ b/source/blender/editors/animation/keyingsets.c
@@ -1177,7 +1177,7 @@ int modify_keyframes (bContext *C, ListBase *dsources, bAction *act, KeyingSet *
 						/* if this path is exactly "rotation", and the rotation mode is set to eulers,
 						 * use "euler_rotation" instead so that rotations will be keyed correctly
 						 */
-						if (strcmp(ksp->rna_path, "rotation")==0 && (cks->pchan->rotmode))
+						if (strcmp(ksp->rna_path, "rotation")==0 && (cks->pchan->rotmode > 0))
 							BLI_dynstr_append(pathds, "euler_rotation");
 						else
 							BLI_dynstr_append(pathds, ksp->rna_path);
diff --git a/source/blender/editors/armature/editarmature.c b/source/blender/editors/armature/editarmature.c
index 3b6c9e9d13d..e2293b65878 100644
--- a/source/blender/editors/armature/editarmature.c
+++ b/source/blender/editors/armature/editarmature.c
@@ -4865,6 +4865,7 @@ static int pose_clear_rot_exec(bContext *C, wmOperator *op)
 			
 			eul[0]= eul[1]= eul[2]= 0.0f;
 			
+			// TODO: for 4 channel rotations, we need special flags for those too...
 			if (pchan->protectflag & OB_LOCK_ROTX)
 				eul[0]= oldeul[0];
 			if (pchan->protectflag & OB_LOCK_ROTY)
diff --git a/source/blender/editors/armature/poseobject.c b/source/blender/editors/armature/poseobject.c
index 9a404e24e12..b473b9ee226 100644
--- a/source/blender/editors/armature/poseobject.c
+++ b/source/blender/editors/armature/poseobject.c
@@ -1009,12 +1009,25 @@ static int pose_paste_exec (bContext *C, wmOperator *op)
 					}
 				}
 				else if (pchan->rotmode > 0) {
-					/* quat to euler */
-					QuatToEulO(chan->quat, pchan->eul, pchan->rotmode);
+					/* quat/axis-angle to euler */
+					if (chan->rotmode == PCHAN_ROT_AXISANGLE)
+						AxisAngleToEulO(&chan->quat[1], chan->quat[0], pchan->eul, pchan->rotmode);
+					else
+						QuatToEulO(chan->quat, pchan->eul, pchan->rotmode);
+				}
+				else if (pchan->rotmode == PCHAN_ROT_AXISANGLE) {
+					/* quat/euler to axis angle */
+					if (chan->rotmode > 0)
+						EulOToAxisAngle(chan->eul, chan->rotmode, &pchan->quat[1], &pchan->quat[0]);
+					else	
+						QuatToAxisAngle(chan->quat, &pchan->quat[1], &pchan->quat[0]);
 				}
 				else {
-					/* euler to quat */
-					EulOToQuat(chan->eul, chan->rotmode, pchan->quat);
+					/* euler/axis-angle to quat */
+					if (chan->rotmode > 0)
+						EulOToQuat(chan->eul, chan->rotmode, pchan->quat);
+					else
+						AxisAngleToQuat(pchan->quat, &chan->quat[1], chan->quat[0]);
 				}
 				
 				/* paste flipped pose? */
@@ -1026,6 +1039,14 @@ static int pose_paste_exec (bContext *C, wmOperator *op)
 						pchan->eul[1] *= -1;
 						pchan->eul[2] *= -1;
 					}
+					else if (pchan->rotmode == PCHAN_ROT_AXISANGLE) {
+						float eul[3];
+						
+						AxisAngleToEulO(&pchan->quat[1], pchan->quat[0], eul, EULER_ORDER_DEFAULT);
+						eul[1]*= -1;
+						eul[2]*= -1;
+						EulOToAxisAngle(eul, EULER_ORDER_DEFAULT, &pchan->quat[1], &pchan->quat[0]);
+					}
 					else {
 						float eul[3];
 						
diff --git a/source/blender/editors/transform/transform.c b/source/blender/editors/transform/transform.c
index 6405e87c4c0..467f5c59e3d 100644
--- a/source/blender/editors/transform/transform.c
+++ b/source/blender/editors/transform/transform.c
@@ -1614,7 +1614,8 @@ static void protectedQuaternionBits(short protectflag, float *quat, float *oldqu
 {
 	/* quaternions get limited with euler... */
 	/* this function only does the delta rotation */
-
+	
+	// FIXME: need special checks for quality here...
 	if(protectflag) {
 		float eul[3], oldeul[3], quat1[4];
 
@@ -2686,12 +2687,13 @@ static void ElementRotation(TransInfo *t, TransData *td, float mat[3][3], short
 				
 				QuatMul(td->ext->quat, quat, iquat);
 				
-				/* this function works on end result */
-				protectedQuaternionBits(td->protectflag, td->ext->quat, td->ext->iquat);
-				
 				/* make temp copy (since stored in same place) */
-				QuatCopy(quat, td->ext->quat);
+				QuatCopy(quat, td->ext->quat); // this is just a 4d vector copying function
 				QuatToAxisAngle(quat, &td->ext->quat[1], &td->ext->quat[0]); 
+				
+				/* this function works on end result */
+				// TODO: we really need a specialised version of this for axis-angle that doesn't try to do quats...
+				protectedQuaternionBits(td->protectflag, td->ext->quat, td->ext->iquat);
 			}
 			else { 
 				float eulmat[3][3];
diff --git a/source/blender/editors/transform/transform_conversions.c b/source/blender/editors/transform/transform_conversions.c
index e0d058f160f..6386c0d4eb7 100644
--- a/source/blender/editors/transform/transform_conversions.c
+++ b/source/blender/editors/transform/transform_conversions.c
@@ -509,6 +509,8 @@ static short apply_targetless_ik(Object *ob)
 					/* rotation */
 					if (parchan->rotmode > 0) 
 						Mat3ToEulO(rmat3, parchan->eul, parchan->rotmode);
+					else if (parchan->rotmode == PCHAN_ROT_AXISANGLE)
+						Mat3ToAxisAngle(rmat3, &parchan->quat[1], &parchan->quat[0]);
 					else
 						Mat3ToQuat(rmat3, parchan->quat);
 					
@@ -517,6 +519,8 @@ static short apply_targetless_ik(Object *ob)
 					if (data->flag & CONSTRAINT_IK_STRETCH) {
 						if (parchan->rotmode > 0)
 							EulOToMat3(parchan->eul, parchan->rotmode, qrmat);
+						else if (parchan->rotmode == PCHAN_ROT_AXISANGLE)
+							AxisAngleToMat3(&parchan->quat[1], parchan->quat[0], qrmat);
 						else
 							QuatToMat3(parchan->quat, qrmat);