diff options
Diffstat (limited to 'source/blender/blenlib/intern/math_rotation.c')
-rw-r--r-- | source/blender/blenlib/intern/math_rotation.c | 34 |
1 files changed, 34 insertions, 0 deletions
diff --git a/source/blender/blenlib/intern/math_rotation.c b/source/blender/blenlib/intern/math_rotation.c index 3ac031d7b90..3d5d47bc2e0 100644 --- a/source/blender/blenlib/intern/math_rotation.c +++ b/source/blender/blenlib/intern/math_rotation.c @@ -1016,6 +1016,40 @@ void angle_to_mat2(float mat[2][2], const float angle) mat[1][1] = angle_cos; } +/****************************** Exponential Map ******************************/ + +void quat_normalized_to_expmap(float expmap[3], const float q[4]) +{ + float angle; + BLI_ASSERT_UNIT_QUAT(q); + + /* Obtain axis/angle representation. */ + quat_to_axis_angle(expmap, &angle, q); + + /* Convert to exponential map. */ + mul_v3_fl(expmap, angle); +} + +void quat_to_expmap(float expmap[3], const float q[4]) +{ + float q_no[4]; + normalize_qt_qt(q_no, q); + quat_normalized_to_expmap(expmap, q_no); +} + +void expmap_to_quat(float r[4], const float expmap[3]) +{ + float axis[3]; + float angle; + + /* Obtain axis/angle representation. */ + angle = normalize_v3_v3(axis, expmap); + angle = angle_wrap_rad(angle); + + /* Convert to quaternion. */ + axis_angle_to_quat(r, axis, angle); +} + /******************************** XYZ Eulers *********************************/ /* XYZ order */ |