diff options
Diffstat (limited to 'source/blender/blenlib/intern/math_rotation.c')
| -rw-r--r-- | source/blender/blenlib/intern/math_rotation.c | 103 |
1 files changed, 0 insertions, 103 deletions
diff --git a/source/blender/blenlib/intern/math_rotation.c b/source/blender/blenlib/intern/math_rotation.c index 34baac6f2a4..dbcf3a6500c 100644 --- a/source/blender/blenlib/intern/math_rotation.c +++ b/source/blender/blenlib/intern/math_rotation.c @@ -34,7 +34,6 @@ # define QUAT_EPSILON 0.0001 #endif -/* convenience, avoids setting Y axis everywhere */ void unit_axis_angle(float axis[3], float *angle) { axis[0] = 0.0f; @@ -75,25 +74,6 @@ void mul_qt_qtqt(float q[4], const float a[4], const float b[4]) q[2] = t2; } -/** - * \note - * Assumes a unit quaternion? - * - * in fact not, but you may want to use a unit quat, read on... - * - * Shortcut for 'q v q*' when \a v is actually a quaternion. - * This removes the need for converting a vector to a quaternion, - * calculating q's conjugate and converting back to a vector. - * It also happens to be faster (17+,24* vs * 24+,32*). - * If \a q is not a unit quaternion, then \a v will be both rotated by - * the same amount as if q was a unit quaternion, and scaled by the square of - * the length of q. - * - * For people used to python mathutils, its like: - * def mul_qt_v3(q, v): (q * Quaternion((0.0, v[0], v[1], v[2])) * q.conjugated())[1:] - * - * \note Multiplying by 3x3 matrix is ~25% faster. - */ void mul_qt_v3(const float q[4], float r[3]) { float t0, t1, t2; @@ -150,11 +130,6 @@ void invert_qt_qt(float q1[4], const float q2[4]) invert_qt(q1); } -/** - * This is just conjugate_qt for cases we know \a q is unit-length. - * we could use #conjugate_qt directly, but use this function to show intent, - * and assert if its ever becomes non-unit-length. - */ void invert_qt_normalized(float q[4]) { BLI_ASSERT_UNIT_QUAT(q); @@ -167,7 +142,6 @@ void invert_qt_qt_normalized(float q1[4], const float q2[4]) invert_qt_normalized(q1); } -/* Simple multiply. */ void mul_qt_fl(float q[4], const float f) { q[0] *= f; @@ -188,7 +162,6 @@ void sub_qt_qtqt(float q[4], const float a[4], const float b[4]) mul_qt_qtqt(q, a, n_b); } -/* raise a unit quaternion to the specified power */ void pow_qt_fl_normalized(float q[4], const float fac) { BLI_ASSERT_UNIT_QUAT(q); @@ -200,10 +173,6 @@ void pow_qt_fl_normalized(float q[4], const float fac) normalize_v3_length(q + 1, si); } -/** - * Apply the rotation of \a a to \a q keeping the values compatible with \a old. - * Avoid axis flipping for animated f-curves for eg. - */ void quat_to_compatible_quat(float q[4], const float a[4], const float old[4]) { const float eps = 1e-4f; @@ -471,9 +440,6 @@ float normalize_qt_qt(float r[4], const float q[4]) return normalize_qt(r); } -/** - * Calculate a rotation matrix from 2 normalized vectors. - */ void rotation_between_vecs_to_mat3(float m[3][3], const float v1[3], const float v2[3]) { float axis[3]; @@ -511,7 +477,6 @@ void rotation_between_vecs_to_mat3(float m[3][3], const float v1[3], const float } } -/* NOTE: expects vectors to be normalized. */ void rotation_between_vecs_to_quat(float q[4], const float v1[3], const float v2[3]) { float axis[3]; @@ -551,16 +516,6 @@ void rotation_between_quats_to_quat(float q[4], const float q1[4], const float q mul_qt_qtqt(q, tquat, q2); } -/** - * Decompose a quaternion into a swing rotation (quaternion with the selected - * axis component locked at zero), followed by a twist rotation around the axis. - * - * \param q: input quaternion. - * \param axis: twist axis in [0,1,2] - * \param r_swing: if not NULL, receives the swing quaternion. - * \param r_twist: if not NULL, receives the twist quaternion. - * \returns twist angle. - */ float quat_split_swing_and_twist(const float q_in[4], int axis, float r_swing[4], float r_twist[4]) { BLI_assert(axis >= 0 && axis <= 2); @@ -861,14 +816,6 @@ void QuatInterpolW(float *result, float quat1[4], float quat2[4], float t) } #endif -/** - * Generic function for implementing slerp - * (quaternions and spherical vector coords). - * - * \param t: factor in [0..1] - * \param cosom: dot product from normalized vectors/quats. - * \param r_w: calculated weights. - */ void interp_dot_slerp(const float t, const float cosom, float r_w[2]) { const float eps = 1e-4f; @@ -925,8 +872,6 @@ void add_qt_qtqt(float q[4], const float a[4], const float b[4], const float t) q[3] = a[3] + t * b[3]; } -/* same as tri_to_quat() but takes pre-computed normal from the triangle - * used for ngons when we know their normal */ 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]) { @@ -979,9 +924,6 @@ void tri_to_quat_ex( mul_qt_qtqt(quat, q1, q2); } -/** - * \return the length of the normal, use to test for degenerate triangles. - */ float tri_to_quat(float q[4], const float a[3], const float b[3], const float c[3]) { float vec[3]; @@ -1020,7 +962,6 @@ void axis_angle_to_quat(float r[4], const float axis[3], const float angle) } } -/* Quaternions to Axis Angle */ void quat_to_axis_angle(float axis[3], float *angle, const float q[4]) { float ha, si; @@ -1054,7 +995,6 @@ void quat_to_axis_angle(float axis[3], float *angle, const float q[4]) } } -/* Axis Angle to Euler Rotation */ void axis_angle_to_eulO(float eul[3], const short order, const float axis[3], const float angle) { float q[4]; @@ -1064,7 +1004,6 @@ void axis_angle_to_eulO(float eul[3], const short order, const float axis[3], co quat_to_eulO(eul, order, q); } -/* Euler Rotation to Axis Angle */ void eulO_to_axis_angle(float axis[3], float *angle, const float eul[3], const short order) { float q[4]; @@ -1074,15 +1013,6 @@ void eulO_to_axis_angle(float axis[3], float *angle, const float eul[3], const s quat_to_axis_angle(axis, angle, q); } -/** - * axis angle to 3x3 matrix - * - * This takes the angle with sin/cos applied so we can avoid calculating it in some cases. - * - * \param axis: rotation axis (must be normalized). - * \param angle_sin: sin(angle) - * \param angle_cos: cos(angle) - */ void axis_angle_normalized_to_mat3_ex(float mat[3][3], const float axis[3], const float angle_sin, @@ -1123,7 +1053,6 @@ void axis_angle_normalized_to_mat3(float R[3][3], const float axis[3], const flo axis_angle_normalized_to_mat3_ex(R, axis, sinf(angle), cosf(angle)); } -/* axis angle to 3x3 matrix - safer version (normalization of axis performed) */ void axis_angle_to_mat3(float R[3][3], const float axis[3], const float angle) { float nor[3]; @@ -1137,7 +1066,6 @@ void axis_angle_to_mat3(float R[3][3], const float axis[3], const float angle) axis_angle_normalized_to_mat3(R, nor, angle); } -/* axis angle to 4x4 matrix - safer version (normalization of axis performed) */ void axis_angle_to_mat4(float R[4][4], const float axis[3], const float angle) { float tmat[3][3]; @@ -1147,7 +1075,6 @@ void axis_angle_to_mat4(float R[4][4], const float axis[3], const float angle) copy_m4_m3(R, tmat); } -/* 3x3 matrix to axis angle */ void mat3_normalized_to_axis_angle(float axis[3], float *angle, const float mat[3][3]) { float q[4]; @@ -1167,7 +1094,6 @@ void mat3_to_axis_angle(float axis[3], float *angle, const float mat[3][3]) quat_to_axis_angle(axis, angle, q); } -/* 4x4 matrix to axis angle */ void mat4_normalized_to_axis_angle(float axis[3], float *angle, const float mat[4][4]) { float q[4]; @@ -1178,7 +1104,6 @@ void mat4_normalized_to_axis_angle(float axis[3], float *angle, const float mat[ quat_to_axis_angle(axis, angle, q); } -/* 4x4 matrix to axis angle */ void mat4_to_axis_angle(float axis[3], float *angle, const float mat[4][4]) { float q[4]; @@ -1196,7 +1121,6 @@ void axis_angle_to_mat4_single(float R[4][4], const char axis, const float angle copy_m4_m3(R, mat3); } -/* rotation matrix from a single axis */ void axis_angle_to_mat3_single(float R[3][3], const char axis, const float angle) { const float angle_cos = cosf(angle); @@ -1305,7 +1229,6 @@ void expmap_to_quat(float r[4], const float expmap[3]) /******************************** XYZ Eulers *********************************/ -/* XYZ order */ void eul_to_mat3(float mat[3][3], const float eul[3]) { double ci, cj, ch, si, sj, sh, cc, cs, sc, ss; @@ -1332,7 +1255,6 @@ void eul_to_mat3(float mat[3][3], const float eul[3]) mat[2][2] = (float)(cj * ci); } -/* XYZ order */ void eul_to_mat4(float mat[4][4], const float eul[3]) { double ci, cj, ch, si, sj, sh, cc, cs, sc, ss; @@ -1390,7 +1312,6 @@ 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], const float mat[3][3]) { float eul1[3], eul2[3]; @@ -1413,7 +1334,6 @@ void mat3_to_eul(float eul[3], const float mat[3][3]) mat3_normalized_to_eul(eul, unit_mat); } -/* XYZ order */ void mat4_normalized_to_eul(float eul[3], const float m[4][4]) { float mat3[3][3]; @@ -1427,7 +1347,6 @@ void mat4_to_eul(float eul[3], const float m[4][4]) mat3_to_eul(eul, mat3); } -/* XYZ order */ void quat_to_eul(float eul[3], const float quat[4]) { float unit_mat[3][3]; @@ -1435,7 +1354,6 @@ void quat_to_eul(float eul[3], const float quat[4]) mat3_normalized_to_eul(eul, unit_mat); } -/* XYZ order */ void eul_to_quat(float quat[4], const float eul[3]) { float ti, tj, th, ci, cj, ch, si, sj, sh, cc, cs, sc, ss; @@ -1460,7 +1378,6 @@ void eul_to_quat(float quat[4], const float eul[3]) quat[3] = cj * cs - sj * sc; } -/* XYZ order */ void rotate_eul(float beul[3], const char axis, const float ang) { float eul[3], mat1[3][3], mat2[3][3], totmat[3][3]; @@ -1486,7 +1403,6 @@ void rotate_eul(float beul[3], const char axis, const float ang) mat3_to_eul(beul, totmat); } -/* order independent! */ void compatible_eul(float eul[3], const float oldrot[3]) { /* we could use M_PI as pi_thresh: which is correct but 5.1 gives better results. @@ -1539,7 +1455,6 @@ void compatible_eul(float eul[3], const float oldrot[3]) /* uses 2 methods to retrieve eulers, and picks the closest */ -/* XYZ order */ void mat3_normalized_to_compatible_eul(float eul[3], const float oldrot[3], float mat[3][3]) { float eul1[3], eul2[3]; @@ -1622,7 +1537,6 @@ static const RotOrderInfo *get_rotation_order_info(const short order) return &rotOrders[5]; } -/* Construct quaternion from Euler angles (in radians). */ void eulO_to_quat(float q[4], const float e[3], const short order) { const RotOrderInfo *R = get_rotation_order_info(order); @@ -1660,7 +1574,6 @@ void eulO_to_quat(float q[4], const float e[3], const short order) } } -/* Convert quaternion to Euler angles (in radians). */ void quat_to_eulO(float e[3], short const order, const float q[4]) { float unit_mat[3][3]; @@ -1669,7 +1582,6 @@ void quat_to_eulO(float e[3], short const order, const float q[4]) mat3_normalized_to_eulO(e, order, unit_mat); } -/* Construct 3x3 matrix from Euler angles (in radians). */ void eulO_to_mat3(float M[3][3], const float e[3], const short order) { const RotOrderInfo *R = get_rotation_order_info(order); @@ -1747,7 +1659,6 @@ static void mat3_normalized_to_eulo2(const float mat[3][3], } } -/* Construct 4x4 matrix from Euler angles (in radians). */ void eulO_to_mat4(float mat[4][4], const float e[3], const short order) { float unit_mat[3][3]; @@ -1757,7 +1668,6 @@ void eulO_to_mat4(float mat[4][4], const float e[3], const short order) copy_m4_m3(mat, unit_mat); } -/* Convert 3x3 matrix to Euler angles (in radians). */ void mat3_normalized_to_eulO(float eul[3], const short order, const float m[3][3]) { float eul1[3], eul2[3]; @@ -1783,7 +1693,6 @@ void mat3_to_eulO(float eul[3], const short order, const float m[3][3]) mat3_normalized_to_eulO(eul, order, unit_mat); } -/* Convert 4x4 matrix to Euler angles (in radians). */ void mat4_normalized_to_eulO(float eul[3], const short order, const float m[4][4]) { float mat3[3][3]; @@ -1801,7 +1710,6 @@ void mat4_to_eulO(float eul[3], const short order, const float m[4][4]) mat3_normalized_to_eulO(eul, order, mat3); } -/* uses 2 methods to retrieve eulers, and picks the closest */ void mat3_normalized_to_compatible_eulO(float eul[3], const float oldrot[3], const short order, @@ -1901,7 +1809,6 @@ void rotate_eulO(float beul[3], const short order, char axis, float ang) mat3_to_eulO(beul, order, totmat); } -/* the matrix is written to as 3 axis vectors */ void eulO_to_gimbal_axis(float gmat[3][3], const float eul[3], const short order) { const RotOrderInfo *R = get_rotation_order_info(order); @@ -2190,7 +2097,6 @@ void copy_dq_dq(DualQuat *r, const DualQuat *dq) memcpy(r, dq, sizeof(DualQuat)); } -/* axis matches eTrackToAxis_Modes */ void quat_apply_track(float quat[4], short axis, short upflag) { /* rotations are hard coded to match vec_to_quat */ @@ -2271,7 +2177,6 @@ void vec_apply_track(float vec[3], short axis) } } -/* lens/angle conversion (radians) */ float focallength_to_fov(float focal_length, float sensor) { return 2.0f * atanf((sensor / 2.0f) / focal_length); @@ -2298,7 +2203,6 @@ float angle_wrap_deg(float angle) return mod_inline(angle + 180.0f, 360.0f) - 180.0f; } -/* returns an angle compatible with angle_compat */ float angle_compat_rad(float angle, float angle_compat) { return angle_compat + angle_wrap_rad(angle - angle_compat); @@ -2387,10 +2291,6 @@ BLI_INLINE int _axis_signed(const int axis) return (axis < 3) ? axis : axis - 3; } -/** - * Each argument us an axis in ['X', 'Y', 'Z', '-X', '-Y', '-Z'] - * where the first 2 are a source and the second 2 are the target. - */ bool mat3_from_axis_conversion( int src_forward, int src_up, int dst_forward, int dst_up, float r_mat[3][3]) { @@ -2423,9 +2323,6 @@ bool mat3_from_axis_conversion( return false; } -/** - * Use when the second axis can be guessed. - */ bool mat3_from_axis_conversion_single(int src_axis, int dst_axis, float r_mat[3][3]) { if (src_axis == dst_axis) { |