diff options
Diffstat (limited to 'source/blender/blenlib/BLI_math_rotation.h')
| -rw-r--r-- | source/blender/blenlib/BLI_math_rotation.h | 79 |
1 files changed, 42 insertions, 37 deletions
diff --git a/source/blender/blenlib/BLI_math_rotation.h b/source/blender/blenlib/BLI_math_rotation.h index 1b3f4dced02..7d0b8dfeaf3 100644 --- a/source/blender/blenlib/BLI_math_rotation.h +++ b/source/blender/blenlib/BLI_math_rotation.h @@ -25,8 +25,8 @@ * ***** END GPL LICENSE BLOCK ***** * */ -#ifndef BLI_MATH_ROTATION -#define BLI_MATH_ROTATION +#ifndef BLI_MATH_ROTATION_H +#define BLI_MATH_ROTATION_H #ifdef __cplusplus extern "C" { @@ -39,6 +39,7 @@ extern "C" { /* stored in (w, x, y, z) order */ /* init */ +void unit_axis_angle(float axis[3], float *angle); void unit_qt(float q[4]); void copy_qt_qt(float q[4], const float a[4]); @@ -48,29 +49,30 @@ void mul_qt_v3(const float q[4], float r[3]); void mul_qt_fl(float q[4], const float f); void mul_fac_qt_fl(float q[4], const float f); -void sub_qt_qtqt(float q[4], float a[4], float b[4]); +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(float a[4], float b[4]); -void normalize_qt(float q[4]); +float dot_qtqt(const float a[4], const float b[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]); /* interpolation */ -void interp_qt_qtqt(float q[4], float a[4], float b[4], float t); -void add_qt_qtqt(float q[4], float a[4], float b[4], float t); +void interp_qt_qtqt(float q[4], const float a[4], const float b[4], const float t); +void add_qt_qtqt(float q[4], const float a[4], const float b[4], const float t); /* conversion */ -void quat_to_mat3(float mat[3][3], float q[4]); -void quat_to_mat4(float mat[4][4], float q[4]); +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_to_quat(float q[4], float mat[3][3]); void mat4_to_quat(float q[4], float mat[4][4]); -void tri_to_quat(float q[4], float a[3], float b[3], float c[3]); -void vec_to_quat(float q[4], float vec[3], short axis, short upflag); +void tri_to_quat(float q[4], const float a[3], const float b[3], const float c[3]); +void vec_to_quat(float q[4], const float vec[3], short axis, const short upflag); /* note: v1 and v2 must be normalized */ void rotation_between_vecs_to_quat(float q[4], const float v1[3], const float v2[3]); void rotation_between_quats_to_quat(float q[4], const float q1[4], const float q2[4]); @@ -84,11 +86,11 @@ void print_qt(char *str, float q[4]); /******************************** Axis Angle *********************************/ /* conversion */ -void axis_angle_to_quat(float r[4], float axis[3], float angle); -void axis_angle_to_mat3(float R[3][3], float axis[3], float angle); -void axis_angle_to_mat4(float R[4][4], float axis[3], float angle); +void axis_angle_to_quat(float r[4], const float axis[3], float angle); +void axis_angle_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 quat_to_axis_angle(float axis[3], float *angle, float q[4]); +void quat_to_axis_angle(float axis[3], float *angle, const float q[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]); @@ -100,24 +102,24 @@ void mat4_to_axis_angle(float axis[3], float *angle, float M[4][4]); void mat3_to_vec_rot(float vec[3], float *phi, float mat[3][3]); void mat4_to_vec_rot(float vec[3], float *phi, float mat[4][4]); -void vec_rot_to_quat(float quat[4], float vec[3], float phi); -void vec_rot_to_mat3(float mat[3][3], float vec[3], float phi); -void vec_rot_to_mat4(float mat[4][4], float vec[3], float phi); +void vec_rot_to_quat(float quat[4], const float vec[3], const float phi); +void vec_rot_to_mat3(float mat[3][3], const float vec[3], const float phi); +void vec_rot_to_mat4(float mat[4][4], const float vec[3], const float phi); /******************************** XYZ Eulers *********************************/ -void eul_to_quat(float quat[4], float eul[3]); -void eul_to_mat3(float mat[3][3], float eul[3]); -void eul_to_mat4(float mat[4][4], float eul[3]); +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 quat_to_eul(float eul[3], float quat[4]); +void quat_to_eul(float eul[3], const float quat[4]); void mat3_to_eul(float eul[3], float mat[3][3]); void mat4_to_eul(float eul[3], float mat[4][4]); -void compatible_eul(float eul[3], float old[3]); -void mat3_to_compatible_eul(float eul[3], float old[3], float mat[3][3]); +void compatible_eul(float eul[3], const float old[3]); +void mat3_to_compatible_eul(float eul[3], const float old[3], float mat[3][3]); -void rotate_eul(float eul[3], char axis, float angle); +void rotate_eul(float eul[3], const char axis, const float angle); /************************** Arbitrary Order Eulers ***************************/ @@ -131,20 +133,20 @@ typedef enum eEulerRotationOrders { EULER_ORDER_YXZ, EULER_ORDER_YZX, EULER_ORDER_ZXY, - EULER_ORDER_ZYX, + EULER_ORDER_ZYX /* there are 6 more entries with dulpicate entries included */ } eEulerRotationOrders; -void eulO_to_quat(float quat[4], float eul[3], short order); -void eulO_to_mat3(float mat[3][3], float eul[3], short order); -void eulO_to_mat4(float mat[4][4], float eul[3], short order); -void eulO_to_axis_angle(float axis[3], float *angle, float eul[3], short order); -void eulO_to_gimbal_axis(float gmat[3][3], float eul[3], short order); +void eulO_to_quat(float quat[4], const float eul[3], const short order); +void eulO_to_mat3(float mat[3][3], const float eul[3], const short order); +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 quat_to_eulO(float eul[3], short order, float quat[4]); -void mat3_to_eulO(float eul[3], short order, float mat[3][3]); -void mat4_to_eulO(float eul[3], short order, float mat[4][4]); -void axis_angle_to_eulO(float eul[3], short order, float axis[3], float angle); +void quat_to_eulO(float eul[3], const short order, const float quat[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 axis_angle_to_eulO(float eul[3], const short order, const float axis[3], const float angle); void mat3_to_compatible_eulO(float eul[3], float old[3], short order, float mat[3][3]); void mat4_to_compatible_eulO(float eul[3], float old[3], short order, float mat[4][4]); @@ -169,6 +171,9 @@ 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 dquat_to_mat4(float R[4][4], DualQuat *dq); +void quat_apply_track(float quat[4], short axis, short upflag); +void vec_apply_track(float vec[3], short axis); + float lens_to_angle(float lens); float angle_to_lens(float angle); @@ -176,5 +181,5 @@ float angle_to_lens(float angle); } #endif -#endif /* BLI_MATH_ROTATION */ +#endif /* BLI_MATH_ROTATION_H */ |