diff options
Diffstat (limited to 'source/blender/python/generic/mathutils_euler.c')
| -rw-r--r-- | source/blender/python/generic/mathutils_euler.c | 668 |
1 files changed, 668 insertions, 0 deletions
diff --git a/source/blender/python/generic/mathutils_euler.c b/source/blender/python/generic/mathutils_euler.c new file mode 100644 index 00000000000..04f80dd4116 --- /dev/null +++ b/source/blender/python/generic/mathutils_euler.c @@ -0,0 +1,668 @@ +/* + * $Id$ + * + * ***** BEGIN GPL LICENSE BLOCK ***** + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software Foundation, + * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. + * + * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. + * All rights reserved. + * + * + * Contributor(s): Joseph Gilbert + * + * ***** END GPL LICENSE BLOCK ***** + */ + +#include "mathutils.h" + +#include "BLI_math.h" +#include "BKE_utildefines.h" + +#ifndef int32_t +#include "BLO_sys_types.h" +#endif + +//----------------------------------mathutils.Euler() ------------------- +//makes a new euler for you to play with +static PyObject *Euler_new(PyTypeObject * type, PyObject * args, PyObject * kwargs) +{ + PyObject *listObject = NULL; + int size, i; + float eul[3]; + PyObject *e; + short order= 0; // TODO, add order option + + size = PyTuple_GET_SIZE(args); + if (size == 1) { + listObject = PyTuple_GET_ITEM(args, 0); + if (PySequence_Check(listObject)) { + size = PySequence_Length(listObject); + } else { // Single argument was not a sequence + PyErr_SetString(PyExc_TypeError, "mathutils.Euler(): 3d numeric sequence expected\n"); + return NULL; + } + } else if (size == 0) { + //returns a new empty 3d euler + return newEulerObject(NULL, order, Py_NEW, NULL); + } else { + listObject = args; + } + + if (size != 3) { // Invalid euler size + PyErr_SetString(PyExc_AttributeError, "mathutils.Euler(): 3d numeric sequence expected\n"); + return NULL; + } + + for (i=0; i<size; i++) { + e = PySequence_GetItem(listObject, i); + if (e == NULL) { // Failed to read sequence + Py_DECREF(listObject); + PyErr_SetString(PyExc_RuntimeError, "mathutils.Euler(): 3d numeric sequence expected\n"); + return NULL; + } + + eul[i]= (float)PyFloat_AsDouble(e); + Py_DECREF(e); + + if(eul[i]==-1 && PyErr_Occurred()) { // parsed item is not a number + PyErr_SetString(PyExc_TypeError, "mathutils.Euler(): 3d numeric sequence expected\n"); + return NULL; + } + } + return newEulerObject(eul, order, Py_NEW, NULL); +} + +short euler_order_from_string(const char *str, const char *error_prefix) +{ + if((str[0] && str[1] && str[2] && str[3]=='\0')) { + switch(*((int32_t *)str)) { + case 'X'|'Y'<<8|'Z'<<16: return 0; + case 'X'|'Z'<<8|'Y'<<16: return 1; + case 'Y'|'X'<<8|'Z'<<16: return 2; + case 'Y'|'Z'<<8|'X'<<16: return 3; + case 'Z'|'X'<<8|'Y'<<16: return 4; + case 'Z'|'Y'<<8|'X'<<16: return 5; + } + } + + PyErr_Format(PyExc_TypeError, "%s: invalid euler order '%s'", error_prefix, str); + return -1; +} + +//-----------------------------METHODS---------------------------- +//----------------------------Euler.toQuat()---------------------- +//return a quaternion representation of the euler + +static char Euler_ToQuat_doc[] = +".. method:: to_quat()\n" +"\n" +" Return a quaternion representation of the euler.\n" +"\n" +" :return: Quaternion representation of the euler.\n" +" :rtype: :class:`Quaternion`\n"; + +static PyObject *Euler_ToQuat(EulerObject * self) +{ + float quat[4]; + + if(!BaseMath_ReadCallback(self)) + return NULL; + + if(self->order==0) eul_to_quat(quat, self->eul); + else eulO_to_quat(quat, self->eul, self->order); + + return newQuaternionObject(quat, Py_NEW, NULL); +} +//----------------------------Euler.toMatrix()--------------------- +//return a matrix representation of the euler +static char Euler_ToMatrix_doc[] = +".. method:: to_matrix()\n" +"\n" +" Return a matrix representation of the euler.\n" +"\n" +" :return: A 3x3 roation matrix representation of the euler.\n" +" :rtype: :class:`Matrix`\n"; + +static PyObject *Euler_ToMatrix(EulerObject * self) +{ + float mat[9] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}; + + if(!BaseMath_ReadCallback(self)) + return NULL; + + if(self->order==0) eul_to_mat3((float (*)[3])mat, self->eul); + else eulO_to_mat3((float (*)[3])mat, self->eul, self->order); + + return newMatrixObject(mat, 3, 3 , Py_NEW, NULL); +} +//----------------------------Euler.unique()----------------------- +//sets the x,y,z values to a unique euler rotation +// TODO, check if this works with rotation order!!! +static char Euler_Unique_doc[] = +".. method:: unique()\n" +"\n" +" Calculate a unique rotation for this euler. Avoids gimble lock.\n" +"\n" +" :return: an instance of itself\n" +" :rtype: :class:`Euler`\n"; + +static PyObject *Euler_Unique(EulerObject * self) +{ +#define PI_2 (Py_PI * 2.0) +#define PI_HALF (Py_PI / 2.0) +#define PI_INV (1.0 / Py_PI) + + double heading, pitch, bank; + + if(!BaseMath_ReadCallback(self)) + return NULL; + + heading = self->eul[0]; + pitch = self->eul[1]; + bank = self->eul[2]; + + //wrap heading in +180 / -180 + pitch += Py_PI; + pitch -= floor(pitch * PI_INV) * PI_2; + pitch -= Py_PI; + + + if(pitch < -PI_HALF) { + pitch = -Py_PI - pitch; + heading += Py_PI; + bank += Py_PI; + } else if(pitch > PI_HALF) { + pitch = Py_PI - pitch; + heading += Py_PI; + bank += Py_PI; + } + //gimbal lock test + if(fabs(pitch) > PI_HALF - 1e-4) { + heading += bank; + bank = 0.0f; + } else { + bank += Py_PI; + bank -= (floor(bank * PI_INV)) * PI_2; + bank -= Py_PI; + } + + heading += Py_PI; + heading -= (floor(heading * PI_INV)) * PI_2; + heading -= Py_PI; + + BaseMath_WriteCallback(self); + Py_INCREF(self); + return (PyObject *)self; +} +//----------------------------Euler.zero()------------------------- +//sets the euler to 0,0,0 +static char Euler_Zero_doc[] = +".. method:: zero()\n" +"\n" +" Set all values to zero.\n" +"\n" +" :return: an instance of itself\n" +" :rtype: :class:`Euler`\n"; + +static PyObject *Euler_Zero(EulerObject * self) +{ + self->eul[0] = 0.0; + self->eul[1] = 0.0; + self->eul[2] = 0.0; + + BaseMath_WriteCallback(self); + Py_INCREF(self); + return (PyObject *)self; +} +//----------------------------Euler.rotate()----------------------- +//rotates a euler a certain amount and returns the result +//should return a unique euler rotation (i.e. no 720 degree pitches :) +static PyObject *Euler_Rotate(EulerObject * self, PyObject *args) +{ + float angle = 0.0f; + char *axis; + + if(!PyArg_ParseTuple(args, "fs", &angle, &axis)){ + PyErr_SetString(PyExc_TypeError, "euler.rotate():expected angle (float) and axis (x,y,z)"); + return NULL; + } + if(ELEM3(*axis, 'x', 'y', 'z') && axis[1]=='\0'){ + PyErr_SetString(PyExc_TypeError, "euler.rotate(): expected axis to be 'x', 'y' or 'z'"); + return NULL; + } + + if(!BaseMath_ReadCallback(self)) + return NULL; + + if(self->order == 0) rotate_eul(self->eul, *axis, angle); + else rotate_eulO(self->eul, self->order, *axis, angle); + + BaseMath_WriteCallback(self); + Py_INCREF(self); + return (PyObject *)self; +} + +static char Euler_MakeCompatible_doc[] = +".. method:: make_compatible(other)\n" +"\n" +" Make this euler compatible with another, so interpolating between them works as intended.\n" +"\n" +" :arg other: make compatible with this rotation.\n" +" :type other: :class:`Euler`\n" +" :return: an instance of itself.\n" +" :rtype: :class:`Euler`\n" +"\n" +" .. note:: the order of eulers must match or an exception is raised.\n"; + +static PyObject *Euler_MakeCompatible(EulerObject * self, EulerObject *value) +{ + if(!EulerObject_Check(value)) { + PyErr_SetString(PyExc_TypeError, "euler.make_compatible(euler): expected a single euler argument."); + return NULL; + } + + if(!BaseMath_ReadCallback(self) || !BaseMath_ReadCallback(value)) + return NULL; + + if(self->order != value->order) { + PyErr_SetString(PyExc_ValueError, "euler.make_compatible(euler): rotation orders don't match\n"); + return NULL; + } + + compatible_eul(self->eul, value->eul); + + BaseMath_WriteCallback(self); + Py_INCREF(self); + return (PyObject *)self; +} + +//----------------------------Euler.rotate()----------------------- +// return a copy of the euler + +static char Euler_copy_doc[] = +".. function:: copy()\n" +"\n" +" Returns a copy of this euler.\n" +"\n" +" :return: A copy of the euler.\n" +" :rtype: :class:`Euler`\n" +"\n" +" .. note:: use this to get a copy of a wrapped euler with no reference to the original data.\n"; + +static PyObject *Euler_copy(EulerObject * self, PyObject *args) +{ + if(!BaseMath_ReadCallback(self)) + return NULL; + + return newEulerObject(self->eul, self->order, Py_NEW, Py_TYPE(self)); +} + +//----------------------------print object (internal)-------------- +//print the object to screen +static PyObject *Euler_repr(EulerObject * self) +{ + char str[64]; + + if(!BaseMath_ReadCallback(self)) + return NULL; + + sprintf(str, "[%.6f, %.6f, %.6f](euler)", self->eul[0], self->eul[1], self->eul[2]); + return PyUnicode_FromString(str); +} +//------------------------tp_richcmpr +//returns -1 execption, 0 false, 1 true +static PyObject* Euler_richcmpr(PyObject *objectA, PyObject *objectB, int comparison_type) +{ + EulerObject *eulA = NULL, *eulB = NULL; + int result = 0; + + if(EulerObject_Check(objectA)) { + eulA = (EulerObject*)objectA; + if(!BaseMath_ReadCallback(eulA)) + return NULL; + } + if(EulerObject_Check(objectB)) { + eulB = (EulerObject*)objectB; + if(!BaseMath_ReadCallback(eulB)) + return NULL; + } + + if (!eulA || !eulB){ + if (comparison_type == Py_NE){ + Py_RETURN_TRUE; + }else{ + Py_RETURN_FALSE; + } + } + eulA = (EulerObject*)objectA; + eulB = (EulerObject*)objectB; + + switch (comparison_type){ + case Py_EQ: + result = EXPP_VectorsAreEqual(eulA->eul, eulB->eul, 3, 1); + break; + case Py_NE: + result = !EXPP_VectorsAreEqual(eulA->eul, eulB->eul, 3, 1); + break; + default: + printf("The result of the comparison could not be evaluated"); + break; + } + if (result == 1){ + Py_RETURN_TRUE; + }else{ + Py_RETURN_FALSE; + } +} + +//---------------------SEQUENCE PROTOCOLS------------------------ +//----------------------------len(object)------------------------ +//sequence length +static int Euler_len(EulerObject * self) +{ + return 3; +} +//----------------------------object[]--------------------------- +//sequence accessor (get) +static PyObject *Euler_item(EulerObject * self, int i) +{ + if(i<0) i= 3-i; + + if(i < 0 || i >= 3) { + PyErr_SetString(PyExc_IndexError, "euler[attribute]: array index out of range"); + return NULL; + } + + if(!BaseMath_ReadIndexCallback(self, i)) + return NULL; + + return PyFloat_FromDouble(self->eul[i]); + +} +//----------------------------object[]------------------------- +//sequence accessor (set) +static int Euler_ass_item(EulerObject * self, int i, PyObject * value) +{ + float f = PyFloat_AsDouble(value); + + if(f == -1 && PyErr_Occurred()) { // parsed item not a number + PyErr_SetString(PyExc_TypeError, "euler[attribute] = x: argument not a number"); + return -1; + } + + if(i<0) i= 3-i; + + if(i < 0 || i >= 3){ + PyErr_SetString(PyExc_IndexError, "euler[attribute] = x: array assignment index out of range\n"); + return -1; + } + + self->eul[i] = f; + + if(!BaseMath_WriteIndexCallback(self, i)) + return -1; + + return 0; +} +//----------------------------object[z:y]------------------------ +//sequence slice (get) +static PyObject *Euler_slice(EulerObject * self, int begin, int end) +{ + PyObject *list = NULL; + int count; + + if(!BaseMath_ReadCallback(self)) + return NULL; + + CLAMP(begin, 0, 3); + if (end<0) end= 4+end; + CLAMP(end, 0, 3); + begin = MIN2(begin,end); + + list = PyList_New(end - begin); + for(count = begin; count < end; count++) { + PyList_SetItem(list, count - begin, + PyFloat_FromDouble(self->eul[count])); + } + + return list; +} +//----------------------------object[z:y]------------------------ +//sequence slice (set) +static int Euler_ass_slice(EulerObject * self, int begin, int end, + PyObject * seq) +{ + int i, y, size = 0; + float eul[3]; + PyObject *e; + + if(!BaseMath_ReadCallback(self)) + return -1; + + CLAMP(begin, 0, 3); + if (end<0) end= 4+end; + CLAMP(end, 0, 3); + begin = MIN2(begin,end); + + size = PySequence_Length(seq); + if(size != (end - begin)){ + PyErr_SetString(PyExc_TypeError, "euler[begin:end] = []: size mismatch in slice assignment"); + return -1; + } + + for (i = 0; i < size; i++) { + e = PySequence_GetItem(seq, i); + if (e == NULL) { // Failed to read sequence + PyErr_SetString(PyExc_RuntimeError, "euler[begin:end] = []: unable to read sequence"); + return -1; + } + + eul[i] = (float)PyFloat_AsDouble(e); + Py_DECREF(e); + + if(eul[i]==-1 && PyErr_Occurred()) { // parsed item not a number + PyErr_SetString(PyExc_TypeError, "euler[begin:end] = []: sequence argument not a number"); + return -1; + } + } + //parsed well - now set in vector + for(y = 0; y < 3; y++){ + self->eul[begin + y] = eul[y]; + } + + BaseMath_WriteCallback(self); + return 0; +} +//-----------------PROTCOL DECLARATIONS-------------------------- +static PySequenceMethods Euler_SeqMethods = { + (lenfunc) Euler_len, /* sq_length */ + (binaryfunc) 0, /* sq_concat */ + (ssizeargfunc) 0, /* sq_repeat */ + (ssizeargfunc) Euler_item, /* sq_item */ + (ssizessizeargfunc) Euler_slice, /* sq_slice */ + (ssizeobjargproc) Euler_ass_item, /* sq_ass_item */ + (ssizessizeobjargproc) Euler_ass_slice, /* sq_ass_slice */ +}; + + +/* + * euler axis, euler.x/y/z + */ +static PyObject *Euler_getAxis( EulerObject * self, void *type ) +{ + return Euler_item(self, GET_INT_FROM_POINTER(type)); +} + +static int Euler_setAxis( EulerObject * self, PyObject * value, void * type ) +{ + return Euler_ass_item(self, GET_INT_FROM_POINTER(type), value); +} + +/* rotation order */ +static PyObject *Euler_getOrder(EulerObject *self, void *type) +{ + static char order[][4] = {"XYZ", "XZY", "YXZ", "YZX", "ZXY", "ZYX"}; + return PyUnicode_FromString(order[self->order]); +} + +static int Euler_setOrder( EulerObject * self, PyObject * value, void * type ) +{ + char *order_str= _PyUnicode_AsString(value); + short order= euler_order_from_string(order_str, "euler.order"); + + if(order < 0) + return -1; + + if(self->cb_user) { + PyErr_SetString(PyExc_TypeError, "euler.order: assignment is not allowed on eulers with an owner"); + return -1; + } + + self->order= order; + return 0; +} + +/*****************************************************************************/ +/* Python attributes get/set structure: */ +/*****************************************************************************/ +static PyGetSetDef Euler_getseters[] = { + {"x", (getter)Euler_getAxis, (setter)Euler_setAxis, "Euler X axis in radians. **type** float", (void *)0}, + {"y", (getter)Euler_getAxis, (setter)Euler_setAxis, "Euler Y axis in radians. **type** float", (void *)1}, + {"z", (getter)Euler_getAxis, (setter)Euler_setAxis, "Euler Z axis in radians. **type** float", (void *)2}, + {"order", (getter)Euler_getOrder, (setter)Euler_setOrder, "Euler rotation order. **type** string in ['XYZ', 'XZY', 'YXZ', 'YZX', 'ZXY', 'ZYX']", (void *)NULL}, + + {"is_wrapped", (getter)BaseMathObject_getWrapped, (setter)NULL, BaseMathObject_Wrapped_doc, NULL}, + {"_owner", (getter)BaseMathObject_getOwner, (setter)NULL, BaseMathObject_Owner_doc, NULL}, + {NULL,NULL,NULL,NULL,NULL} /* Sentinel */ +}; + + +//-----------------------METHOD DEFINITIONS ---------------------- +static struct PyMethodDef Euler_methods[] = { + {"zero", (PyCFunction) Euler_Zero, METH_NOARGS, Euler_Zero_doc}, + {"unique", (PyCFunction) Euler_Unique, METH_NOARGS, Euler_Unique_doc}, + {"to_matrix", (PyCFunction) Euler_ToMatrix, METH_NOARGS, Euler_ToMatrix_doc}, + {"to_quat", (PyCFunction) Euler_ToQuat, METH_NOARGS, Euler_ToQuat_doc}, + {"rotate", (PyCFunction) Euler_Rotate, METH_VARARGS, NULL}, + {"make_compatible", (PyCFunction) Euler_MakeCompatible, METH_O, Euler_MakeCompatible_doc}, + {"__copy__", (PyCFunction) Euler_copy, METH_VARARGS, Euler_copy_doc}, + {"copy", (PyCFunction) Euler_copy, METH_VARARGS, Euler_copy_doc}, + {NULL, NULL, 0, NULL} +}; + +//------------------PY_OBECT DEFINITION-------------------------- +static char euler_doc[] = +"This object gives access to Eulers in Blender."; + +PyTypeObject euler_Type = { + PyVarObject_HEAD_INIT(NULL, 0) + "euler", //tp_name + sizeof(EulerObject), //tp_basicsize + 0, //tp_itemsize + (destructor)BaseMathObject_dealloc, //tp_dealloc + 0, //tp_print + 0, //tp_getattr + 0, //tp_setattr + 0, //tp_compare + (reprfunc) Euler_repr, //tp_repr + 0, //tp_as_number + &Euler_SeqMethods, //tp_as_sequence + 0, //tp_as_mapping + 0, //tp_hash + 0, //tp_call + 0, //tp_str + 0, //tp_getattro + 0, //tp_setattro + 0, //tp_as_buffer + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE, //tp_flags + euler_doc, //tp_doc + 0, //tp_traverse + 0, //tp_clear + (richcmpfunc)Euler_richcmpr, //tp_richcompare + 0, //tp_weaklistoffset + 0, //tp_iter + 0, //tp_iternext + Euler_methods, //tp_methods + 0, //tp_members + Euler_getseters, //tp_getset + 0, //tp_base + 0, //tp_dict + 0, //tp_descr_get + 0, //tp_descr_set + 0, //tp_dictoffset + 0, //tp_init + 0, //tp_alloc + Euler_new, //tp_new + 0, //tp_free + 0, //tp_is_gc + 0, //tp_bases + 0, //tp_mro + 0, //tp_cache + 0, //tp_subclasses + 0, //tp_weaklist + 0 //tp_del +}; +//------------------------newEulerObject (internal)------------- +//creates a new euler object +/*pass Py_WRAP - if vector is a WRAPPER for data allocated by BLENDER + (i.e. it was allocated elsewhere by MEM_mallocN()) + pass Py_NEW - if vector is not a WRAPPER and managed by PYTHON + (i.e. it must be created here with PyMEM_malloc())*/ +PyObject *newEulerObject(float *eul, short order, int type, PyTypeObject *base_type) +{ + EulerObject *self; + int x; + + if(base_type) self = (EulerObject *)base_type->tp_alloc(base_type, 0); + else self = PyObject_NEW(EulerObject, &euler_Type); + + /* init callbacks as NULL */ + self->cb_user= NULL; + self->cb_type= self->cb_subtype= 0; + + if(type == Py_WRAP){ + self->eul = eul; + self->wrapped = Py_WRAP; + }else if (type == Py_NEW){ + self->eul = PyMem_Malloc(3 * sizeof(float)); + if(!eul) { //new empty + for(x = 0; x < 3; x++) { + self->eul[x] = 0.0f; + } + }else{ + VECCOPY(self->eul, eul); + } + self->wrapped = Py_NEW; + }else{ //bad type + return NULL; + } + + self->order= order; + return (PyObject *)self; +} + +PyObject *newEulerObject_cb(PyObject *cb_user, short order, int cb_type, int cb_subtype) +{ + EulerObject *self= (EulerObject *)newEulerObject(NULL, order, Py_NEW, NULL); + if(self) { + Py_INCREF(cb_user); + self->cb_user= cb_user; + self->cb_type= (unsigned char)cb_type; + self->cb_subtype= (unsigned char)cb_subtype; + } + + return (PyObject *)self; +} |