diff options
| -rw-r--r-- | source/blender/blenkernel/intern/anim.c | 14 | ||||
| -rw-r--r-- | source/blender/blenkernel/intern/armature.c | 5 | ||||
| -rw-r--r-- | source/blender/blenkernel/intern/object.c | 14 | ||||
| -rw-r--r-- | source/blender/blenlib/BLI_math_rotation.h | 5 | ||||
| -rw-r--r-- | source/blender/blenlib/intern/math_rotation.c | 38 | ||||
| -rw-r--r-- | source/blender/editors/armature/editarmature.c | 14 | ||||
| -rw-r--r-- | source/blender/editors/transform/transform.c | 25 |
7 files changed, 81 insertions, 34 deletions
diff --git a/source/blender/blenkernel/intern/anim.c b/source/blender/blenkernel/intern/anim.c index b58bd8c7f3e..b479bd5ef28 100644 --- a/source/blender/blenkernel/intern/anim.c +++ b/source/blender/blenkernel/intern/anim.c @@ -1339,12 +1339,16 @@ static void new_particle_duplilist(ListBase *lb, ID *UNUSED(id), Scene *scene, O else { /* first key */ state.time = ctime; - if(psys_get_particle_state(&sim, a, &state, 0) == 0) + if(psys_get_particle_state(&sim, a, &state, 0) == 0) { continue; - - quat_to_mat4( pamat,state.rot); - VECCOPY(pamat[3], state.co); - pamat[3][3]= 1.0f; + } + else { + float tquat[4]; + normalize_qt_qt(tquat, state.rot); + quat_to_mat4(pamat, tquat); + copy_v3_v3(pamat[3], state.co); + pamat[3][3]= 1.0f; + } } if(part->ren_as==PART_DRAW_GR && psys->part->draw & PART_DRAW_WHOLE_GR) { diff --git a/source/blender/blenkernel/intern/armature.c b/source/blender/blenkernel/intern/armature.c index b4bdb516ab3..0d1d08af44c 100644 --- a/source/blender/blenkernel/intern/armature.c +++ b/source/blender/blenkernel/intern/armature.c @@ -1248,6 +1248,7 @@ void BKE_rotMode_change_values (float quat[4], float eul[3], float axis[3], floa } else if (oldMode == ROT_MODE_QUAT) { /* quat to euler */ + normalize_qt(quat); quat_to_eulO( eul, newMode,quat); } /* else { no conversion needed } */ @@ -1270,6 +1271,7 @@ void BKE_rotMode_change_values (float quat[4], float eul[3], float axis[3], floa } else if (oldMode == ROT_MODE_QUAT) { /* quat to axis angle */ + normalize_qt(quat); quat_to_axis_angle( axis, angle,quat); } @@ -2092,8 +2094,7 @@ void pchan_to_mat4(bPoseChannel *pchan, float chan_mat[4][4]) * but if this proves to be too problematic, switch back to the old system of operating directly on * the stored copy */ - QUATCOPY(quat, pchan->quat); - normalize_qt(quat); + normalize_qt_qt(quat, pchan->quat); quat_to_mat3(rmat, quat); } diff --git a/source/blender/blenkernel/intern/object.c b/source/blender/blenkernel/intern/object.c index 5f2a10c0b3e..b98927db877 100644 --- a/source/blender/blenkernel/intern/object.c +++ b/source/blender/blenkernel/intern/object.c @@ -1668,9 +1668,13 @@ void object_rot_to_mat3(Object *ob, float mat[][3]) } else { /* quats are normalised before use to eliminate scaling issues */ - normalize_qt(ob->quat); - quat_to_mat3( rmat,ob->quat); - quat_to_mat3( dmat,ob->dquat); + float tquat[4]; + + normalize_qt_qt(tquat, ob->quat); + quat_to_mat3(rmat, tquat); + + normalize_qt_qt(tquat, ob->quat); + quat_to_mat3(dmat, tquat); } /* combine these rotations */ @@ -1818,8 +1822,8 @@ static void ob_parcurve(Scene *scene, Object *ob, Object *par, float mat[][4]) #else quat_apply_track(quat, ob->trackflag, ob->upflag); #endif - - quat_to_mat4(mat,quat); + normalize_qt(quat); + quat_to_mat4(mat, quat); } if(cu->flag & CU_PATH_RADIUS) { diff --git a/source/blender/blenlib/BLI_math_rotation.h b/source/blender/blenlib/BLI_math_rotation.h index 19ecce1040b..72147962316 100644 --- a/source/blender/blenlib/BLI_math_rotation.h +++ b/source/blender/blenlib/BLI_math_rotation.h @@ -51,10 +51,11 @@ void mul_fac_qt_fl(float q[4], const float f); void sub_qt_qtqt(float q[4], const float a[4], const float b[4]); void invert_qt(float q[4]); -void invert_qt_qt(float *q1, const float *q2); +void invert_qt_qt(float q1[4], const float q2[4]); void conjugate_qt(float q[4]); float dot_qtqt(const float a[4], const float b[4]); -void normalize_qt(float q[4]); +float normalize_qt(float q[4]); +float normalize_qt_qt(float q1[4], const float q2[4]); /* comparison */ int is_zero_qt(float q[4]); diff --git a/source/blender/blenlib/intern/math_rotation.c b/source/blender/blenlib/intern/math_rotation.c index 5f6f7ac54d9..a3e57605ad4 100644 --- a/source/blender/blenlib/intern/math_rotation.c +++ b/source/blender/blenlib/intern/math_rotation.c @@ -31,6 +31,9 @@ /******************************** Quaternions ********************************/ +/* used to test is a quat is not normalized */ +#define QUAT_EPSILON 0.00001 + void unit_qt(float *q) { q[0]= 1.0f; @@ -144,7 +147,8 @@ void mul_fac_qt_fl(float *q, const float fac) mul_v3_fl(q+1, si); } -void quat_to_mat3(float m[][3], const float q[4]) +/* skip error check, currently only needed by mat3_to_quat_is_ok */ +static void quat_to_mat3_no_assert(float m[][3], const float q[4]) { double q0, q1, q2, q3, qda,qdb,qdc,qaa,qab,qac,qbb,qbc,qcc; @@ -176,10 +180,23 @@ void quat_to_mat3(float m[][3], const float q[4]) m[2][2]= (float)(1.0-qaa-qbb); } + +void quat_to_mat3(float m[][3], const float q[4]) +{ + /* throw an error if the quat isn't normalized */ + float f; + assert((f=dot_qtqt(q, q))==0.0 || (fabs(f-1.0) < QUAT_EPSILON)); + + quat_to_mat3_no_assert(m, q); +} + void quat_to_mat4(float m[][4], const float q[4]) { double q0, q1, q2, q3, qda,qdb,qdc,qaa,qab,qac,qbb,qbc,qcc; + /* throw an error if the quat isn't normalized */ + assert((q0=dot_qtqt(q, q))==0.0 || (fabs(q0-1.0) < QUAT_EPSILON)); + q0= M_SQRT2 * q[0]; q1= M_SQRT2 * q[1]; q2= M_SQRT2 * q[2]; @@ -300,7 +317,7 @@ void mat3_to_quat_is_ok(float q[4], float wmat[3][3]) q1[3]= -nor[2]*si; /* rotate back x-axis from mat, using inverse q1 */ - quat_to_mat3( matr,q1); + quat_to_mat3_no_assert( matr,q1); invert_m3_m3(matn, matr); mul_m3_v3(matn, mat[0]); @@ -318,7 +335,7 @@ void mat3_to_quat_is_ok(float q[4], float wmat[3][3]) } -void normalize_qt(float *q) +float normalize_qt(float *q) { float len; @@ -330,6 +347,14 @@ void normalize_qt(float *q) q[1]= 1.0f; q[0]= q[2]= q[3]= 0.0f; } + + return len; +} + +float normalize_qt_qt(float r[4], const float q[4]) +{ + copy_qt_qt(r, q); + return normalize_qt(r); } /* note: expects vectors to be normalized */ @@ -619,7 +644,10 @@ void axis_angle_to_quat(float q[4], const float axis[3], float angle) void quat_to_axis_angle(float axis[3], float *angle, const float q[4]) { float ha, si; - + + /* throw an error if the quat isn't normalized */ + assert((ha=dot_qtqt(q, q))==0.0 || (fabs(ha-1.0) < QUAT_EPSILON)); + /* calculate angle/2, and sin(angle/2) */ ha= (float)acos(q[0]); si= (float)sin(ha); @@ -925,7 +953,7 @@ void mat4_to_eul(float *eul,float tmat[][4]) void quat_to_eul(float *eul, const float quat[4]) { float mat[3][3]; - + quat_to_mat3(mat,quat); mat3_to_eul(eul,mat); } diff --git a/source/blender/editors/armature/editarmature.c b/source/blender/editors/armature/editarmature.c index 2e251a67a34..36544bcb086 100644 --- a/source/blender/editors/armature/editarmature.c +++ b/source/blender/editors/armature/editarmature.c @@ -5026,10 +5026,11 @@ static int pose_clear_rot_exec(bContext *C, wmOperator *UNUSED(op)) else { /* perform clamping using euler form (3-components) */ float eul[3], oldeul[3], quat1[4] = {0}; + float qlen; if (pchan->rotmode == ROT_MODE_QUAT) { - copy_qt_qt(quat1, pchan->quat); - quat_to_eul( oldeul,pchan->quat); + qlen= normalize_qt_qt(quat1, pchan->quat); + quat_to_eul(oldeul, quat1); } else if (pchan->rotmode == ROT_MODE_AXISANGLE) { axis_angle_to_eulO( oldeul, EULER_ORDER_DEFAULT,pchan->rotAxis, pchan->rotAngle); @@ -5048,7 +5049,11 @@ static int pose_clear_rot_exec(bContext *C, wmOperator *UNUSED(op)) eul[2]= oldeul[2]; if (pchan->rotmode == ROT_MODE_QUAT) { - eul_to_quat( pchan->quat,eul); + eul_to_quat(pchan->quat, eul); + + /* restore original quat size */ + mul_qt_fl(pchan->quat, qlen); + /* quaternions flip w sign to accumulate rotations correctly */ if ((quat1[0]<0.0f && pchan->quat[0]>0.0f) || (quat1[0]>0.0f && pchan->quat[0]<0.0f)) { mul_qt_fl(pchan->quat, -1.0f); @@ -5064,8 +5069,7 @@ static int pose_clear_rot_exec(bContext *C, wmOperator *UNUSED(op)) } // Duplicated in source/blender/editors/object/object_transform.c else { if (pchan->rotmode == ROT_MODE_QUAT) { - pchan->quat[1]=pchan->quat[2]=pchan->quat[3]= 0.0f; - pchan->quat[0]= 1.0f; + unit_qt(pchan->quat); } else if (pchan->rotmode == ROT_MODE_AXISANGLE) { /* by default, make rotation of 0 radians around y-axis (roll) */ diff --git a/source/blender/editors/transform/transform.c b/source/blender/editors/transform/transform.c index 36438712d09..4b6079001ff 100644 --- a/source/blender/editors/transform/transform.c +++ b/source/blender/editors/transform/transform.c @@ -1917,23 +1917,29 @@ static void protectedQuaternionBits(short protectflag, float *quat, float *oldqu } else { /* quaternions get limited with euler... (compatability mode) */ - float eul[3], oldeul[3], quat1[4]; - - QUATCOPY(quat1, quat); - quat_to_eul( eul,quat); - quat_to_eul( oldeul,oldquat); - + float eul[3], oldeul[3], nquat[4], noldquat[4]; + float qlen; + + qlen= normalize_qt_qt(nquat, quat); + normalize_qt_qt(noldquat, oldquat); + + quat_to_eul(eul, nquat); + quat_to_eul(oldeul, noldquat); + if (protectflag & OB_LOCK_ROTX) eul[0]= oldeul[0]; if (protectflag & OB_LOCK_ROTY) eul[1]= oldeul[1]; if (protectflag & OB_LOCK_ROTZ) eul[2]= oldeul[2]; - + eul_to_quat( quat,eul); + + /* restore original quat size */ + mul_qt_fl(quat, qlen); /* quaternions flip w sign to accumulate rotations correctly */ - if ( (quat1[0]<0.0f && quat[0]>0.0f) || (quat1[0]>0.0f && quat[0]<0.0f) ) { + if ( (nquat[0]<0.0f && quat[0]>0.0f) || (nquat[0]>0.0f && quat[0]<0.0f) ) { mul_qt_fl(quat, -1.0f); } } @@ -2013,8 +2019,7 @@ static void constraintob_from_transdata(bConstraintOb *cob, TransData *td) we don't necessarily end up with a rotation matrix, and then conversion back to quat gives a different result */ float quat[4]; - copy_qt_qt(quat, td->ext->quat); - normalize_qt(quat); + normalize_qt_qt(quat, td->ext->quat); quat_to_mat4(cob->matrix, quat); } else if (td->ext->rotOrder == ROT_MODE_AXISANGLE) { |