diff options
Diffstat (limited to 'source/blender/blenlib/intern/math_rotation.c')
| -rw-r--r-- | source/blender/blenlib/intern/math_rotation.c | 74 |
1 files changed, 38 insertions, 36 deletions
diff --git a/source/blender/blenlib/intern/math_rotation.c b/source/blender/blenlib/intern/math_rotation.c index 41535cf32b6..536b4d79385 100644 --- a/source/blender/blenlib/intern/math_rotation.c +++ b/source/blender/blenlib/intern/math_rotation.c @@ -27,11 +27,11 @@ * \ingroup bli */ - - #include <assert.h> #include "BLI_math.h" +#include "BLI_strict_flags.h" + /******************************** Quaternions ********************************/ /* used to test is a quat is not normalized (only used for debug prints) */ @@ -444,7 +444,7 @@ void vec_to_quat(float q[4], const float vec[3], short axis, const short upflag) /* rotate to axis */ if (axis > 2) { copy_v3_v3(tvec, vec); - axis -= 3; + axis = (short)(axis - 3); } else { negate_v3_v3(tvec, vec); @@ -1183,10 +1183,10 @@ void eulO_to_quat(float q[4], const float e[3], const short order) a[j] = cj * ss + sj * cc; a[k] = cj * cs - sj * sc; - q[0] = cj * cc + sj * ss; - q[1] = a[0]; - q[2] = a[1]; - q[3] = a[2]; + q[0] = (float)(cj * cc + sj * ss); + q[1] = (float)(a[0]); + q[2] = (float)(a[1]); + q[3] = (float)(a[2]); if (R->parity) q[j + 1] = -q[j + 1]; } @@ -1230,15 +1230,15 @@ void eulO_to_mat3(float M[3][3], const float e[3], const short order) sc = si * ch; ss = si * sh; - M[i][i] = cj * ch; - M[j][i] = sj * sc - cs; - M[k][i] = sj * cc + ss; - M[i][j] = cj * sh; - M[j][j] = sj * ss + cc; - M[k][j] = sj * cs - sc; - M[i][k] = -sj; - M[j][k] = cj * si; - M[k][k] = cj * ci; + M[i][i] = (float)(cj * ch); + M[j][i] = (float)(sj * sc - cs); + M[k][i] = (float)(sj * cc + ss); + M[i][j] = (float)(cj * sh); + M[j][j] = (float)(sj * ss + cc); + M[k][j] = (float)(sj * cs - sc); + M[i][k] = (float)(-sj); + M[j][k] = (float)(cj * si); + M[k][k] = (float)(cj * ci); } /* returns two euler calculation methods, so we can pick the best */ @@ -1256,17 +1256,17 @@ static void mat3_to_eulo2(float M[3][3], float e1[3], float e2[3], const short o cy = sqrt(m[i][i] * m[i][i] + m[i][j] * m[i][j]); if (cy > 16.0 * (double)FLT_EPSILON) { - e1[i] = atan2(m[j][k], m[k][k]); - e1[j] = atan2(-m[i][k], cy); - e1[k] = atan2(m[i][j], m[i][i]); + e1[i] = atan2f(m[j][k], m[k][k]); + e1[j] = atan2f(-m[i][k], (float)cy); + e1[k] = atan2f(m[i][j], m[i][i]); - e2[i] = atan2(-m[j][k], -m[k][k]); - e2[j] = atan2(-m[i][k], -cy); - e2[k] = atan2(-m[i][j], -m[i][i]); + e2[i] = atan2f(-m[j][k], -m[k][k]); + e2[j] = atan2f(-m[i][k], (float)-cy); + e2[k] = atan2f(-m[i][j], -m[i][i]); } else { - e1[i] = atan2(-m[k][j], m[j][j]); - e1[j] = atan2(-m[i][k], cy); + e1[i] = atan2f(-m[k][j], m[j][j]); + e1[j] = atan2f(-m[i][k], (float)cy); e1[k] = 0; copy_v3_v3(e2, e1); @@ -1632,13 +1632,14 @@ void copy_dq_dq(DualQuat *dq1, const DualQuat *dq2) void quat_apply_track(float quat[4], short axis, short upflag) { /* rotations are hard coded to match vec_to_quat */ + const float sqrt_1_2 = (float)M_SQRT1_2; const float quat_track[][4] = { - {M_SQRT1_2, 0.0, -M_SQRT1_2, 0.0}, /* pos-y90 */ + {sqrt_1_2, 0.0, -sqrt_1_2, 0.0}, /* pos-y90 */ {0.5, 0.5, 0.5, 0.5}, /* Quaternion((1,0,0), radians(90)) * Quaternion((0,1,0), radians(90)) */ - {M_SQRT1_2, 0.0, 0.0, M_SQRT1_2}, /* pos-z90 */ - {M_SQRT1_2, 0.0, M_SQRT1_2, 0.0}, /* neg-y90 */ + {sqrt_1_2, 0.0, 0.0, sqrt_1_2}, /* pos-z90 */ + {sqrt_1_2, 0.0, sqrt_1_2, 0.0}, /* neg-y90 */ {0.5, -0.5, -0.5, 0.5}, /* Quaternion((1,0,0), radians(-90)) * Quaternion((0,1,0), radians(-90)) */ - {0.0, M_SQRT1_2, M_SQRT1_2, 0.0} /* no rotation */ + {0.0, sqrt_1_2, sqrt_1_2, 0.0} /* no rotation */ }; assert(axis >= 0 && axis <= 5); @@ -1646,15 +1647,16 @@ void quat_apply_track(float quat[4], short axis, short upflag) mul_qt_qtqt(quat, quat, quat_track[axis]); - if (axis > 2) - axis = axis - 3; + if (axis > 2) { + axis = (short)(axis - 3); + } /* there are 2 possible up-axis for each axis used, the 'quat_track' applies so the first * up axis is used X->Y, Y->X, Z->X, if this first up axis isn't used then rotate 90d * the strange bit shift below just find the low axis {X:Y, Y:X, Z:X} */ if (upflag != (2 - axis) >> 1) { - float q[4] = {M_SQRT1_2, 0.0, 0.0, 0.0}; /* assign 90d rotation axis */ - q[axis + 1] = ((axis == 1)) ? M_SQRT1_2 : -M_SQRT1_2; /* flip non Y axis */ + float q[4] = {sqrt_1_2, 0.0, 0.0, 0.0}; /* assign 90d rotation axis */ + q[axis + 1] = ((axis == 1)) ? sqrt_1_2 : -sqrt_1_2; /* flip non Y axis */ mul_qt_qtqt(quat, quat, q); } } @@ -1835,7 +1837,7 @@ static int _axis_convert_lut[23][24] = { // _axis_convert_num = {'X': 0, 'Y': 1, 'Z': 2, '-X': 3, '-Y': 4, '-Z': 5} -MINLINE int _axis_signed(const int axis) +BLI_INLINE int _axis_signed(const int axis) { return (axis < 3) ? axis : axis - 3; } @@ -1849,7 +1851,7 @@ int mat3_from_axis_conversion(int from_forward, int from_up, int to_forward, int { // from functools import reduce int value; - int i; + unsigned int i; if (from_forward == to_forward && from_up == to_up) { unit_m3(r_mat); @@ -1870,8 +1872,8 @@ int mat3_from_axis_conversion(int from_forward, int from_up, int to_forward, int (to_up << (3 * 3))); for (i = 0; i < (sizeof(_axis_convert_matrix) / sizeof(*_axis_convert_matrix)); i++) { - int j; - for (j = 0; j < sizeof(*_axis_convert_lut) / sizeof(*_axis_convert_lut[0]); j++) { + unsigned int j; + for (j = 0; j < (sizeof(*_axis_convert_lut) / sizeof(*_axis_convert_lut[0])); j++) { if (_axis_convert_lut[i][j] == value) { copy_m3_m3(r_mat, _axis_convert_matrix[i]); return true; |