Cleanup: use const args for BLI_math_rotation

2 files changed, 52 insertions, 47 deletions

diff --git a/source/blender/blenlib/BLI_math_rotation.h b/source/blender/blenlib/BLI_math_rotation.h
index 699deb7d8f9..5246d7ad1a9 100644
--- a/source/blender/blenlib/BLI_math_rotation.h
+++ b/source/blender/blenlib/BLI_math_rotation.h
@@ -77,10 +77,10 @@ void add_qt_qtqt(float q[4], const float a[4], const float b[4], const float t);
 void quat_to_mat3(float mat[3][3], const float q[4]);
 void quat_to_mat4(float mat[4][4], const float q[4]);
 
-void mat3_normalized_to_quat(float q[4], float mat[3][3]);
-void mat4_normalized_to_quat(float q[4], float mat[4][4]);
-void mat3_to_quat(float q[4], float mat[3][3]);
-void mat4_to_quat(float q[4], float mat[4][4]);
+void mat3_normalized_to_quat(float q[4], const float mat[3][3]);
+void mat4_normalized_to_quat(float q[4], const float mat[4][4]);
+void mat3_to_quat(float q[4], const float mat[3][3]);
+void mat4_to_quat(float q[4], const float mat[4][4]);
 void tri_to_quat_ex(float quat[4], const float v1[3], const float v2[3], const float v3[3],
                     const float no_orig[3]);
 float tri_to_quat(float q[4], const float a[3], const float b[3], const float c[3]);
@@ -101,7 +101,7 @@ float angle_signed_qt(const float q[4]);
 float angle_signed_qtqt(const float q1[4], const float q2[4]);
 
 /* TODO: don't what this is, but it's not the same as mat3_to_quat */
-void mat3_to_quat_is_ok(float q[4], float mat[3][3]);
+void mat3_to_quat_is_ok(float q[4], const float mat[3][3]);
 
 /* other */
 void print_qt(const char *str, const float q[4]);
@@ -119,10 +119,10 @@ void axis_angle_normalized_to_mat3_ex(float mat[3][3], const float axis[3],
 void axis_angle_normalized_to_mat3(float R[3][3], const float axis[3], const float angle);
 void axis_angle_to_mat4(float R[4][4], const float axis[3], const float angle);
 
-void mat3_normalized_to_axis_angle(float axis[3], float *angle, float M[3][3]);
-void mat4_normalized_to_axis_angle(float axis[3], float *angle, float M[4][4]);
-void mat3_to_axis_angle(float axis[3], float *angle, float M[3][3]);
-void mat4_to_axis_angle(float axis[3], float *angle, float M[4][4]);
+void mat3_normalized_to_axis_angle(float axis[3], float *angle, const float M[3][3]);
+void mat4_normalized_to_axis_angle(float axis[3], float *angle, const float M[4][4]);
+void mat3_to_axis_angle(float axis[3], float *angle, const float M[3][3]);
+void mat4_to_axis_angle(float axis[3], float *angle, const float M[4][4]);
 void quat_to_axis_angle(float axis[3], float *angle, const float q[4]);
 
 void      angle_to_mat2(float R[2][2], const float angle);
@@ -142,10 +142,10 @@ void eul_to_quat(float quat[4], const float eul[3]);
 void eul_to_mat3(float mat[3][3], const float eul[3]);
 void eul_to_mat4(float mat[4][4], const float eul[3]);
 
-void mat3_normalized_to_eul(float eul[3], float mat[3][3]);
-void mat4_normalized_to_eul(float eul[3], float mat[4][4]);
-void mat3_to_eul(float eul[3], float mat[3][3]);
-void mat4_to_eul(float eul[3], float mat[4][4]);
+void mat3_normalized_to_eul(float eul[3], const float mat[3][3]);
+void mat4_normalized_to_eul(float eul[3], const float mat[4][4]);
+void mat3_to_eul(float eul[3], const float mat[3][3]);
+void mat4_to_eul(float eul[3], const float mat[4][4]);
 void quat_to_eul(float eul[3], const float quat[4]);
 
 void mat3_normalized_to_compatible_eul(float eul[3], const float old[3], float mat[3][3]);
@@ -177,18 +177,18 @@ void eulO_to_mat4(float mat[4][4], const float eul[3], const short order);
 void eulO_to_axis_angle(float axis[3], float *angle, const float eul[3], const short order);
 void eulO_to_gimbal_axis(float gmat[3][3], const float eul[3], const short order);
 
-void mat3_normalized_to_eulO(float eul[3], const short order, float mat[3][3]);
-void mat4_normalized_to_eulO(float eul[3], const short order, float mat[4][4]);
-void mat3_to_eulO(float eul[3], const short order, float mat[3][3]);
-void mat4_to_eulO(float eul[3], const short order, float mat[4][4]);
+void mat3_normalized_to_eulO(float eul[3], const short order, const float mat[3][3]);
+void mat4_normalized_to_eulO(float eul[3], const short order, const float mat[4][4]);
+void mat3_to_eulO(float eul[3], const short order, const float mat[3][3]);
+void mat4_to_eulO(float eul[3], const short order, const float mat[4][4]);
 void quat_to_eulO(float eul[3], const short order, const float quat[4]);
 void axis_angle_to_eulO(float eul[3], const short order, const float axis[3], const float angle);
 
-void mat3_normalized_to_compatible_eulO(float eul[3], float old[3], const short order, float mat[3][3]);
-void mat4_normalized_to_compatible_eulO(float eul[3], float old[3], const short order, float mat[4][4]);
-void mat3_to_compatible_eulO(float eul[3], float old[3], const short order, float mat[3][3]);
-void mat4_to_compatible_eulO(float eul[3], float old[3], const short order, float mat[4][4]);
-void quat_to_compatible_eulO(float eul[3], float old[3], const short order, const float quat[4]);
+void mat3_normalized_to_compatible_eulO(float eul[3], const float old[3], const short order, const float mat[3][3]);
+void mat4_normalized_to_compatible_eulO(float eul[3], const float old[3], const short order, const float mat[4][4]);
+void mat3_to_compatible_eulO(float eul[3], const float old[3], const short order, const float mat[3][3]);
+void mat4_to_compatible_eulO(float eul[3], const float old[3], const short order, const float mat[4][4]);
+void quat_to_compatible_eulO(float eul[3], const float old[3], const short order, const float quat[4]);
 
 void rotate_eulO(float eul[3], const short order, char axis, float angle);
 
@@ -207,7 +207,7 @@ void normalize_dq(DualQuat *dq, float totw);
 void add_weighted_dq_dq(DualQuat *r, const DualQuat *dq, float weight);
 void mul_v3m3_dq(float r[3], float R[3][3], DualQuat *dq);
 
-void mat4_to_dquat(DualQuat *r, float base[4][4], float M[4][4]);
+void mat4_to_dquat(DualQuat *r, const float base[4][4], const float M[4][4]);
 void dquat_to_mat4(float R[4][4], const DualQuat *dq);
 
 void quat_apply_track(float quat[4], short axis, short upflag);
diff --git a/source/blender/blenlib/intern/math_rotation.c b/source/blender/blenlib/intern/math_rotation.c
index c8d4ce9690b..a8629e93483 100644
--- a/source/blender/blenlib/intern/math_rotation.c
+++ b/source/blender/blenlib/intern/math_rotation.c
@@ -291,7 +291,7 @@ void quat_to_mat4(float m[4][4], const float q[4])
 	m[3][3] = 1.0f;
 }
 
-void mat3_normalized_to_quat(float q[4], float mat[3][3])
+void mat3_normalized_to_quat(float q[4], const float mat[3][3])
 {
 	double tr, s;
 
@@ -339,7 +339,7 @@ void mat3_normalized_to_quat(float q[4], float mat[3][3])
 
 	normalize_qt(q);
 }
-void mat3_to_quat(float q[4], float m[3][3])
+void mat3_to_quat(float q[4], const float m[3][3])
 {
 	float unit_mat[3][3];
 
@@ -349,7 +349,7 @@ void mat3_to_quat(float q[4], float m[3][3])
 	mat3_normalized_to_quat(q, unit_mat);
 }
 
-void mat4_normalized_to_quat(float q[4], float m[4][4])
+void mat4_normalized_to_quat(float q[4], const float m[4][4])
 {
 	float mat3[3][3];
 
@@ -357,7 +357,7 @@ void mat4_normalized_to_quat(float q[4], float m[4][4])
 	mat3_normalized_to_quat(q, mat3);
 }
 
-void mat4_to_quat(float q[4], float m[4][4])
+void mat4_to_quat(float q[4], const float m[4][4])
 {
 	float mat3[3][3];
 
@@ -365,7 +365,7 @@ void mat4_to_quat(float q[4], float m[4][4])
 	mat3_to_quat(q, mat3);
 }
 
-void mat3_to_quat_is_ok(float q[4], float wmat[3][3])
+void mat3_to_quat_is_ok(float q[4], const float wmat[3][3])
 {
 	float mat[3][3], matr[3][3], matn[3][3], q1[4], q2[4], angle, si, co, nor[3];
 
@@ -1033,7 +1033,7 @@ void axis_angle_to_mat4(float mat[4][4], const float axis[3], const float angle)
 }
 
 /* 3x3 matrix to axis angle */
-void mat3_normalized_to_axis_angle(float axis[3], float *angle, float mat[3][3])
+void mat3_normalized_to_axis_angle(float axis[3], float *angle, const float mat[3][3])
 {
 	float q[4];
 
@@ -1042,7 +1042,7 @@ void mat3_normalized_to_axis_angle(float axis[3], float *angle, float mat[3][3])
 	mat3_normalized_to_quat(q, mat);
 	quat_to_axis_angle(axis, angle, q);
 }
-void mat3_to_axis_angle(float axis[3], float *angle, float mat[3][3])
+void mat3_to_axis_angle(float axis[3], float *angle, const float mat[3][3])
 {
 	float q[4];
 
@@ -1053,7 +1053,7 @@ void mat3_to_axis_angle(float axis[3], float *angle, float mat[3][3])
 }
 
 /* 4x4 matrix to axis angle */
-void mat4_normalized_to_axis_angle(float axis[3], float *angle, float mat[4][4])
+void mat4_normalized_to_axis_angle(float axis[3], float *angle, const float mat[4][4])
 {
 	float q[4];
 
@@ -1064,7 +1064,7 @@ void mat4_normalized_to_axis_angle(float axis[3], float *angle, float mat[4][4])
 }
 
 /* 4x4 matrix to axis angle */
-void mat4_to_axis_angle(float axis[3], float *angle, float mat[4][4])
+void mat4_to_axis_angle(float axis[3], float *angle, const float mat[4][4])
 {
 	float q[4];
 
@@ -1279,7 +1279,7 @@ static void mat3_normalized_to_eul2(const float mat[3][3], float eul1[3], float
 }
 
 /* XYZ order */
-void mat3_normalized_to_eul(float eul[3], float mat[3][3])
+void mat3_normalized_to_eul(float eul[3], const float mat[3][3])
 {
 	float eul1[3], eul2[3];
 
@@ -1293,7 +1293,7 @@ void mat3_normalized_to_eul(float eul[3], float mat[3][3])
 		copy_v3_v3(eul, eul1);
 	}
 }
-void mat3_to_eul(float eul[3], float mat[3][3])
+void mat3_to_eul(float eul[3], const float mat[3][3])
 {
 	float unit_mat[3][3];
 	normalize_m3_m3(unit_mat, mat);
@@ -1301,13 +1301,13 @@ void mat3_to_eul(float eul[3], float mat[3][3])
 }
 
 /* XYZ order */
-void mat4_normalized_to_eul(float eul[3], float m[4][4])
+void mat4_normalized_to_eul(float eul[3], const float m[4][4])
 {
 	float mat3[3][3];
 	copy_m3_m4(mat3, m);
 	mat3_normalized_to_eul(eul, mat3);
 }
-void mat4_to_eul(float eul[3], float m[4][4])
+void mat4_to_eul(float eul[3], const float m[4][4])
 {
 	float mat3[3][3];
 	copy_m3_m4(mat3, m);
@@ -1576,7 +1576,7 @@ 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_normalized_to_eulo2(float mat[3][3], float eul1[3], float eul2[3], const short order)
+static void mat3_normalized_to_eulo2(const float mat[3][3], float eul1[3], float eul2[3], const short order)
 {
 	const RotOrderInfo *R = get_rotation_order_info(order);
 	short i = R->axis[0], j = R->axis[1], k = R->axis[2];
@@ -1620,7 +1620,7 @@ void eulO_to_mat4(float mat[4][4], const float e[3], const short order)
 }
 
 /* Convert 3x3 matrix to Euler angles (in radians). */
-void mat3_normalized_to_eulO(float eul[3], const short order, float m[3][3])
+void mat3_normalized_to_eulO(float eul[3], const short order, const float m[3][3])
 {
 	float eul1[3], eul2[3];
 	float d1, d2;
@@ -1638,7 +1638,7 @@ void mat3_normalized_to_eulO(float eul[3], const short order, float m[3][3])
 		copy_v3_v3(eul, eul1);
 	}
 }
-void mat3_to_eulO(float eul[3], const short order, float m[3][3])
+void mat3_to_eulO(float eul[3], const short order, const float m[3][3])
 {
 	float unit_mat[3][3];
 	normalize_m3_m3(unit_mat, m);
@@ -1646,7 +1646,7 @@ void mat3_to_eulO(float eul[3], const short order, float m[3][3])
 }
 
 /* Convert 4x4 matrix to Euler angles (in radians). */
-void mat4_normalized_to_eulO(float eul[3], const short order, float m[4][4])
+void mat4_normalized_to_eulO(float eul[3], const short order, const float m[4][4])
 {
 	float mat3[3][3];
 
@@ -1655,7 +1655,7 @@ void mat4_normalized_to_eulO(float eul[3], const short order, float m[4][4])
 	mat3_normalized_to_eulO(eul, order, mat3);
 }
 
-void mat4_to_eulO(float eul[3], const short order, float m[4][4])
+void mat4_to_eulO(float eul[3], const short order, const float m[4][4])
 {
 	float mat3[3][3];
 	copy_m3_m4(mat3, m);
@@ -1665,7 +1665,8 @@ void mat4_to_eulO(float eul[3], const short order, float m[4][4])
 
 
 /* uses 2 methods to retrieve eulers, and picks the closest */
-void mat3_normalized_to_compatible_eulO(float eul[3], float oldrot[3], const short order, float mat[3][3])
+void mat3_normalized_to_compatible_eulO(
+        float eul[3], const float oldrot[3], const short order, const float mat[3][3])
 {
 	float eul1[3], eul2[3];
 	float d1, d2;
@@ -1686,7 +1687,8 @@ void mat3_normalized_to_compatible_eulO(float eul[3], float oldrot[3], const sho
 		copy_v3_v3(eul, eul1);
 	}
 }
-void mat3_to_compatible_eulO(float eul[3], float oldrot[3], const short order, float mat[3][3])
+void mat3_to_compatible_eulO(
+        float eul[3], const float oldrot[3], const short order, const float mat[3][3])
 {
 	float unit_mat[3][3];
 
@@ -1694,7 +1696,8 @@ void mat3_to_compatible_eulO(float eul[3], float oldrot[3], const short order, f
 	mat3_normalized_to_compatible_eulO(eul, oldrot, order, unit_mat);
 }
 
-void mat4_normalized_to_compatible_eulO(float eul[3], float oldrot[3], const short order, float m[4][4])
+void mat4_normalized_to_compatible_eulO(
+        float eul[3], const float oldrot[3], const short order, const float m[4][4])
 {
 	float mat3[3][3];
 
@@ -1702,7 +1705,8 @@ void mat4_normalized_to_compatible_eulO(float eul[3], float oldrot[3], const sho
 	copy_m3_m4(mat3, m);
 	mat3_normalized_to_compatible_eulO(eul, oldrot, order, mat3);
 }
-void mat4_to_compatible_eulO(float eul[3], float oldrot[3], const short order, float m[4][4])
+void mat4_to_compatible_eulO(
+        float eul[3], const float oldrot[3], const short order, const float m[4][4])
 {
 	float mat3[3][3];
 
@@ -1712,7 +1716,8 @@ void mat4_to_compatible_eulO(float eul[3], float oldrot[3], const short order, f
 	mat3_normalized_to_compatible_eulO(eul, oldrot, order, mat3);
 }
 
-void quat_to_compatible_eulO(float eul[3], float oldrot[3], const short order, const float quat[4])
+void quat_to_compatible_eulO(
+        float eul[3], const float oldrot[3], const short order, const float quat[4])
 {
 	float unit_mat[3][3];
 
@@ -1801,7 +1806,7 @@ void eulO_to_gimbal_axis(float gmat[3][3], const float eul[3], const short order
  * - added support for scaling
  */
 
-void mat4_to_dquat(DualQuat *dq, float basemat[4][4], float mat[4][4])
+void mat4_to_dquat(DualQuat *dq, const float basemat[4][4], const float mat[4][4])
 {
 	float *t, *q, dscale[3], scale[3], basequat[4], mat3[3][3];
 	float baseRS[4][4], baseinv[4][4], baseR[4][4], baseRinv[4][4];