diff options
author | Campbell Barton <campbell@blender.org> | 2022-08-25 05:45:43 +0300 |
---|---|---|
committer | Campbell Barton <campbell@blender.org> | 2022-08-25 06:48:31 +0300 |
commit | a7650c6206908a8865d6140a310809ec5ab0c770 (patch) | |
tree | 63137fb4cb772daafe5683a86b5496361e83deae /source/blender/python | |
parent | 8593228a13d38057a5d849f46d5cc0ab23fb1405 (diff) |
BLI_math: ensure non-negative matrices for mat3_to_quat calculations
Making the callers responsible for this isn't practical as matrices are
often passed indirectly to a functions such as mat3_to_axis_angle,
BKE_object_mat3_to_rot & BKE_pchan_mat3_to_rot.
Or the matrix is combined from other matrices which could be negative.
Given quaternions calculated from negative matrices are completely
invalid and checking only needs to negate matrices with a negative
determinant, move the check into mat3_to_quat and related functions.
Add mat3_normalized_to_quat_fast for cases no error checking on the
input matrix is needed such as blending rotations.
Diffstat (limited to 'source/blender/python')
-rw-r--r-- | source/blender/python/mathutils/mathutils_Matrix.c | 13 | ||||
-rw-r--r-- | source/blender/python/mathutils/mathutils_Quaternion.c | 8 |
2 files changed, 4 insertions, 17 deletions
diff --git a/source/blender/python/mathutils/mathutils_Matrix.c b/source/blender/python/mathutils/mathutils_Matrix.c index de42b11c70b..8405b966a4e 100644 --- a/source/blender/python/mathutils/mathutils_Matrix.c +++ b/source/blender/python/mathutils/mathutils_Matrix.c @@ -1243,19 +1243,12 @@ static PyObject *Matrix_to_quaternion(MatrixObject *self) "inappropriate matrix size - expects 3x3 or 4x4 matrix"); return NULL; } - float mat3[3][3]; if (self->row_num == 3) { - copy_m3_m3(mat3, (const float(*)[3])self->matrix); + mat3_to_quat(quat, (const float(*)[3])self->matrix); } else { - copy_m3_m4(mat3, (const float(*)[4])self->matrix); + mat4_to_quat(quat, (const float(*)[4])self->matrix); } - normalize_m3(mat3); - if (is_negative_m3(mat3)) { - /* Without this, the results are invalid, see: T94231. */ - negate_m3(mat3); - } - mat3_normalized_to_quat(quat, mat3); return Quaternion_CreatePyObject(quat, NULL); } @@ -1894,7 +1887,7 @@ static PyObject *Matrix_decompose(MatrixObject *self) } mat4_to_loc_rot_size(loc, rot, size, (const float(*)[4])self->matrix); - mat3_to_quat(quat, rot); + mat3_normalized_to_quat_fast(quat, rot); ret = PyTuple_New(3); PyTuple_SET_ITEMS(ret, diff --git a/source/blender/python/mathutils/mathutils_Quaternion.c b/source/blender/python/mathutils/mathutils_Quaternion.c index 4972381d29e..a5ea09bef48 100644 --- a/source/blender/python/mathutils/mathutils_Quaternion.c +++ b/source/blender/python/mathutils/mathutils_Quaternion.c @@ -543,13 +543,7 @@ static PyObject *Quaternion_rotate(QuaternionObject *self, PyObject *value) length = normalize_qt_qt(tquat, self->quat); quat_to_mat3(self_rmat, tquat); mul_m3_m3m3(rmat, other_rmat, self_rmat); - normalize_m3(rmat); - /* This check could also be performed on `other_rmat`, use the final result instead to ensure - * float imprecision doesn't allow the multiplication to make `rmat` negative. */ - if (is_negative_m3(rmat)) { - negate_m3(rmat); - } - mat3_normalized_to_quat(self->quat, rmat); + mat3_to_quat(self->quat, rmat); mul_qt_fl(self->quat, length); /* maintain length after rotating */ (void)BaseMath_WriteCallback(self); |