diff options
Diffstat (limited to 'source/blender/python/generic/mathutils_quat.c')
| -rw-r--r-- | source/blender/python/generic/mathutils_quat.c | 638 |
1 files changed, 361 insertions, 277 deletions
diff --git a/source/blender/python/generic/mathutils_quat.c b/source/blender/python/generic/mathutils_quat.c index 553844b6ee5..88cd7358ad5 100644 --- a/source/blender/python/generic/mathutils_quat.c +++ b/source/blender/python/generic/mathutils_quat.c @@ -20,7 +20,7 @@ * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. * All rights reserved. * - * + * * Contributor(s): Joseph Gilbert * * ***** END GPL LICENSE BLOCK ***** @@ -29,14 +29,17 @@ #include "mathutils.h" #include "BLI_math.h" -#include "BKE_utildefines.h" +#include "BLI_utildefines.h" #define QUAT_SIZE 4 +static PyObject *quat__apply_to_copy(PyNoArgsFunction quat_func, QuaternionObject *self); +static PyObject *Quaternion_copy(QuaternionObject *self); + //-----------------------------METHODS------------------------------ /* note: BaseMath_ReadCallback must be called beforehand */ -static PyObject *Quaternion_ToTupleExt(QuaternionObject *self, int ndigits) +static PyObject *Quaternion_to_tuple_ext(QuaternionObject *self, int ndigits) { PyObject *ret; int i; @@ -57,7 +60,7 @@ static PyObject *Quaternion_ToTupleExt(QuaternionObject *self, int ndigits) return ret; } -static char Quaternion_ToEuler_doc[] = +static char Quaternion_to_euler_doc[] = ".. method:: to_euler(order, euler_compat)\n" "\n" " Return Euler representation of the quaternion.\n" @@ -67,18 +70,19 @@ static char Quaternion_ToEuler_doc[] = " :arg euler_compat: Optional euler argument the new euler will be made compatible with (no axis flipping between them). Useful for converting a series of matrices to animation curves.\n" " :type euler_compat: :class:`Euler`\n" " :return: Euler representation of the quaternion.\n" -" :rtype: :class:`Euler`\n"; - -static PyObject *Quaternion_ToEuler(QuaternionObject * self, PyObject *args) +" :rtype: :class:`Euler`\n" +; +static PyObject *Quaternion_to_euler(QuaternionObject *self, PyObject *args) { + float tquat[4]; float eul[3]; - char *order_str= NULL; + const char *order_str= NULL; short order= EULER_ORDER_XYZ; EulerObject *eul_compat = NULL; - + if(!PyArg_ParseTuple(args, "|sO!:to_euler", &order_str, &euler_Type, &eul_compat)) return NULL; - + if(!BaseMath_ReadCallback(self)) return NULL; @@ -89,34 +93,36 @@ static PyObject *Quaternion_ToEuler(QuaternionObject * self, PyObject *args) return NULL; } + normalize_qt_qt(tquat, self->quat); + if(eul_compat) { float mat[3][3]; - + if(!BaseMath_ReadCallback(eul_compat)) return NULL; - - quat_to_mat3(mat, self->quat); + + quat_to_mat3(mat, tquat); if(order == EULER_ORDER_XYZ) mat3_to_compatible_eul(eul, eul_compat->eul, mat); else mat3_to_compatible_eulO(eul, eul_compat->eul, order, mat); } else { - if(order == EULER_ORDER_XYZ) quat_to_eul(eul, self->quat); - else quat_to_eulO(eul, order, self->quat); + if(order == EULER_ORDER_XYZ) quat_to_eul(eul, tquat); + else quat_to_eulO(eul, order, tquat); } - + return newEulerObject(eul, order, Py_NEW, NULL); } //----------------------------Quaternion.toMatrix()------------------ -static char Quaternion_ToMatrix_doc[] = +static char Quaternion_to_matrix_doc[] = ".. method:: to_matrix()\n" "\n" " Return a matrix representation of the quaternion.\n" "\n" " :return: A 3x3 rotation matrix representation of the quaternion.\n" -" :rtype: :class:`Matrix`\n"; - -static PyObject *Quaternion_ToMatrix(QuaternionObject * self) +" :rtype: :class:`Matrix`\n" +; +static PyObject *Quaternion_to_matrix(QuaternionObject *self) { float mat[9]; /* all values are set */ @@ -128,7 +134,7 @@ static PyObject *Quaternion_ToMatrix(QuaternionObject * self) } //----------------------------Quaternion.cross(other)------------------ -static char Quaternion_Cross_doc[] = +static char Quaternion_cross_doc[] = ".. method:: cross(other)\n" "\n" " Return the cross product of this quaternion and another.\n" @@ -136,26 +142,24 @@ static char Quaternion_Cross_doc[] = " :arg other: The other quaternion to perform the cross product with.\n" " :type other: :class:`Quaternion`\n" " :return: The cross product.\n" -" :rtype: :class:`Quaternion`\n"; - -static PyObject *Quaternion_Cross(QuaternionObject * self, QuaternionObject * value) +" :rtype: :class:`Quaternion`\n" +; +static PyObject *Quaternion_cross(QuaternionObject *self, PyObject *value) { - float quat[QUAT_SIZE]; - - if (!QuaternionObject_Check(value)) { - PyErr_SetString( PyExc_TypeError, "quat.cross(value): expected a quaternion argument" ); + float quat[QUAT_SIZE], tquat[QUAT_SIZE]; + + if(!BaseMath_ReadCallback(self)) return NULL; - } - - if(!BaseMath_ReadCallback(self) || !BaseMath_ReadCallback(value)) + + if(mathutils_array_parse(tquat, QUAT_SIZE, QUAT_SIZE, value, "quaternion.cross(other), invalid 'other' arg") == -1) return NULL; - mul_qt_qtqt(quat, self->quat, value->quat); - return newQuaternionObject(quat, Py_NEW, NULL); + mul_qt_qtqt(quat, self->quat, tquat); + return newQuaternionObject(quat, Py_NEW, Py_TYPE(self)); } //----------------------------Quaternion.dot(other)------------------ -static char Quaternion_Dot_doc[] = +static char Quaternion_dot_doc[] = ".. method:: dot(other)\n" "\n" " Return the dot product of this quaternion and another.\n" @@ -163,22 +167,22 @@ static char Quaternion_Dot_doc[] = " :arg other: The other quaternion to perform the dot product with.\n" " :type other: :class:`Quaternion`\n" " :return: The dot product.\n" -" :rtype: :class:`Quaternion`\n"; - -static PyObject *Quaternion_Dot(QuaternionObject * self, QuaternionObject * value) +" :rtype: :class:`Quaternion`\n" +; +static PyObject *Quaternion_dot(QuaternionObject *self, PyObject *value) { - if (!QuaternionObject_Check(value)) { - PyErr_SetString( PyExc_TypeError, "quat.dot(value): expected a quaternion argument" ); + float tquat[QUAT_SIZE]; + + if(!BaseMath_ReadCallback(self)) return NULL; - } - if(!BaseMath_ReadCallback(self) || !BaseMath_ReadCallback(value)) + if(mathutils_array_parse(tquat, QUAT_SIZE, QUAT_SIZE, value, "quaternion.dot(other), invalid 'other' arg") == -1) return NULL; - return PyFloat_FromDouble(dot_qtqt(self->quat, value->quat)); + return PyFloat_FromDouble(dot_qtqt(self->quat, tquat)); } -static char Quaternion_Difference_doc[] = +static char Quaternion_difference_doc[] = ".. function:: difference(other)\n" "\n" " Returns a quaternion representing the rotational difference.\n" @@ -186,26 +190,24 @@ static char Quaternion_Difference_doc[] = " :arg other: second quaternion.\n" " :type other: :class:`Quaternion`\n" " :return: the rotational difference between the two quat rotations.\n" -" :rtype: :class:`Quaternion`\n"; - -static PyObject *Quaternion_Difference(QuaternionObject * self, QuaternionObject * value) +" :rtype: :class:`Quaternion`\n" +; +static PyObject *Quaternion_difference(QuaternionObject *self, PyObject *value) { - float quat[QUAT_SIZE]; + float tquat[QUAT_SIZE], quat[QUAT_SIZE]; - if (!QuaternionObject_Check(value)) { - PyErr_SetString( PyExc_TypeError, "quat.difference(value): expected a quaternion argument" ); + if(!BaseMath_ReadCallback(self)) return NULL; - } - if(!BaseMath_ReadCallback(self) || !BaseMath_ReadCallback(value)) + if(mathutils_array_parse(tquat, QUAT_SIZE, QUAT_SIZE, value, "quaternion.difference(other), invalid 'other' arg") == -1) return NULL; - rotation_between_quats_to_quat(quat, self->quat, value->quat); + rotation_between_quats_to_quat(quat, self->quat, tquat); - return newQuaternionObject(quat, Py_NEW, NULL); + return newQuaternionObject(quat, Py_NEW, Py_TYPE(self)); } -static char Quaternion_Slerp_doc[] = +static char Quaternion_slerp_doc[] = ".. function:: slerp(other, factor)\n" "\n" " Returns the interpolation of two quaternions.\n" @@ -215,19 +217,22 @@ static char Quaternion_Slerp_doc[] = " :arg factor: The interpolation value in [0.0, 1.0].\n" " :type factor: float\n" " :return: The interpolated rotation.\n" -" :rtype: :class:`Quaternion`\n"; - -static PyObject *Quaternion_Slerp(QuaternionObject *self, PyObject *args) +" :rtype: :class:`Quaternion`\n" +; +static PyObject *Quaternion_slerp(QuaternionObject *self, PyObject *args) { - QuaternionObject *value; - float quat[QUAT_SIZE], fac; + PyObject *value; + float tquat[QUAT_SIZE], quat[QUAT_SIZE], fac; - if(!PyArg_ParseTuple(args, "O!f:slerp", &quaternion_Type, &value, &fac)) { + if(!PyArg_ParseTuple(args, "Of:slerp", &value, &fac)) { PyErr_SetString(PyExc_TypeError, "quat.slerp(): expected Quaternion types and float"); return NULL; } - if(!BaseMath_ReadCallback(self) || !BaseMath_ReadCallback(value)) + if(!BaseMath_ReadCallback(self)) + return NULL; + + if(mathutils_array_parse(tquat, QUAT_SIZE, QUAT_SIZE, value, "quaternion.slerp(other), invalid 'other' arg") == -1) return NULL; if(fac > 1.0f || fac < 0.0f) { @@ -235,112 +240,167 @@ static PyObject *Quaternion_Slerp(QuaternionObject *self, PyObject *args) return NULL; } - interp_qt_qtqt(quat, self->quat, value->quat, fac); + interp_qt_qtqt(quat, self->quat, tquat, fac); + + return newQuaternionObject(quat, Py_NEW, Py_TYPE(self)); +} + +static char Quaternion_rotate_doc[] = +".. method:: rotate(other)\n" +"\n" +" Rotates the quaternion a by another mathutils value.\n" +"\n" +" :arg other: rotation component of mathutils value\n" +" :type other: :class:`Euler`, :class:`Quaternion` or :class:`Matrix`\n" +; +static PyObject *Quaternion_rotate(QuaternionObject *self, PyObject *value) +{ + float self_rmat[3][3], other_rmat[3][3], rmat[3][3]; + float tquat[4], length; + + if(!BaseMath_ReadCallback(self)) + return NULL; + + if(mathutils_any_to_rotmat(other_rmat, value, "quaternion.rotate(value)") == -1) + return NULL; + + length= normalize_qt_qt(tquat, self->quat); + quat_to_mat3(self_rmat, tquat); + mul_m3_m3m3(rmat, self_rmat, other_rmat); - return newQuaternionObject(quat, Py_NEW, NULL); + mat3_to_quat(self->quat, rmat); + mul_qt_fl(self->quat, length); /* maintain length after rotating */ + + (void)BaseMath_WriteCallback(self); + Py_RETURN_NONE; } //----------------------------Quaternion.normalize()---------------- //normalize the axis of rotation of [theta,vector] -static char Quaternion_Normalize_doc[] = +static char Quaternion_normalize_doc[] = ".. function:: normalize()\n" "\n" " Normalize the quaternion.\n" -"\n" -" :return: an instance of itself.\n" -" :rtype: :class:`Quaternion`\n"; - -static PyObject *Quaternion_Normalize(QuaternionObject * self) +; +static PyObject *Quaternion_normalize(QuaternionObject *self) { if(!BaseMath_ReadCallback(self)) return NULL; normalize_qt(self->quat); - BaseMath_WriteCallback(self); - Py_INCREF(self); - return (PyObject*)self; + (void)BaseMath_WriteCallback(self); + Py_RETURN_NONE; } -//----------------------------Quaternion.inverse()------------------ -static char Quaternion_Inverse_doc[] = -".. function:: inverse()\n" +static char Quaternion_normalized_doc[] = +".. function:: normalized()\n" "\n" -" Set the quaternion to its inverse.\n" +" Return a new normalized quaternion.\n" "\n" -" :return: an instance of itself.\n" -" :rtype: :class:`Quaternion`\n"; +" :return: a normalized copy.\n" +" :rtype: :class:`Quaternion`\n" +; +static PyObject *Quaternion_normalized(QuaternionObject *self) +{ + return quat__apply_to_copy((PyNoArgsFunction)Quaternion_normalize, self); +} -static PyObject *Quaternion_Inverse(QuaternionObject * self) +//----------------------------Quaternion.invert()------------------ +static char Quaternion_invert_doc[] = +".. function:: invert()\n" +"\n" +" Set the quaternion to its inverse.\n" +; +static PyObject *Quaternion_invert(QuaternionObject *self) { if(!BaseMath_ReadCallback(self)) return NULL; invert_qt(self->quat); - BaseMath_WriteCallback(self); - Py_INCREF(self); - return (PyObject*)self; + (void)BaseMath_WriteCallback(self); + Py_RETURN_NONE; } +static char Quaternion_inverted_doc[] = +".. function:: inverted()\n" +"\n" +" Return a new, inverted quaternion.\n" +"\n" +" :return: the inverted value.\n" +" :rtype: :class:`Quaternion`\n" +; +static PyObject *Quaternion_inverted(QuaternionObject *self) +{ + return quat__apply_to_copy((PyNoArgsFunction)Quaternion_invert, self); +} + //----------------------------Quaternion.identity()----------------- -static char Quaternion_Identity_doc[] = +static char Quaternion_identity_doc[] = ".. function:: identity()\n" "\n" " Set the quaternion to an identity quaternion.\n" "\n" " :return: an instance of itself.\n" -" :rtype: :class:`Quaternion`\n"; - -static PyObject *Quaternion_Identity(QuaternionObject * self) +" :rtype: :class:`Quaternion`\n" +; +static PyObject *Quaternion_identity(QuaternionObject *self) { if(!BaseMath_ReadCallback(self)) return NULL; unit_qt(self->quat); - BaseMath_WriteCallback(self); - Py_INCREF(self); - return (PyObject*)self; + (void)BaseMath_WriteCallback(self); + Py_RETURN_NONE; } //----------------------------Quaternion.negate()------------------- -static char Quaternion_Negate_doc[] = +static char Quaternion_negate_doc[] = ".. function:: negate()\n" "\n" " Set the quaternion to its negative.\n" "\n" " :return: an instance of itself.\n" -" :rtype: :class:`Quaternion`\n"; - -static PyObject *Quaternion_Negate(QuaternionObject * self) +" :rtype: :class:`Quaternion`\n" +; +static PyObject *Quaternion_negate(QuaternionObject *self) { if(!BaseMath_ReadCallback(self)) return NULL; mul_qt_fl(self->quat, -1.0f); - BaseMath_WriteCallback(self); - Py_INCREF(self); - return (PyObject*)self; + (void)BaseMath_WriteCallback(self); + Py_RETURN_NONE; } //----------------------------Quaternion.conjugate()---------------- -static char Quaternion_Conjugate_doc[] = +static char Quaternion_conjugate_doc[] = ".. function:: conjugate()\n" "\n" " Set the quaternion to its conjugate (negate x, y, z).\n" -"\n" -" :return: an instance of itself.\n" -" :rtype: :class:`Quaternion`\n"; - -static PyObject *Quaternion_Conjugate(QuaternionObject * self) +; +static PyObject *Quaternion_conjugate(QuaternionObject *self) { if(!BaseMath_ReadCallback(self)) return NULL; conjugate_qt(self->quat); - BaseMath_WriteCallback(self); - Py_INCREF(self); - return (PyObject*)self; + (void)BaseMath_WriteCallback(self); + Py_RETURN_NONE; } +static char Quaternion_conjugated_doc[] = +".. function:: conjugated()\n" +"\n" +" Return a new conjugated quaternion.\n" +"\n" +" :return: a new quaternion.\n" +" :rtype: :class:`Quaternion`\n" +; +static PyObject *Quaternion_conjugated(QuaternionObject *self) +{ + return quat__apply_to_copy((PyNoArgsFunction)Quaternion_conjugate, self); +} + //----------------------------Quaternion.copy()---------------- static char Quaternion_copy_doc[] = ".. function:: copy()\n" @@ -350,9 +410,9 @@ static char Quaternion_copy_doc[] = " :return: A copy of the quaternion.\n" " :rtype: :class:`Quaternion`\n" "\n" -" .. note:: use this to get a copy of a wrapped quaternion with no reference to the original data.\n"; - -static PyObject *Quaternion_copy(QuaternionObject * self) +" .. note:: use this to get a copy of a wrapped quaternion with no reference to the original data.\n" +; +static PyObject *Quaternion_copy(QuaternionObject *self) { if(!BaseMath_ReadCallback(self)) return NULL; @@ -362,14 +422,14 @@ static PyObject *Quaternion_copy(QuaternionObject * self) //----------------------------print object (internal)-------------- //print the object to screen -static PyObject *Quaternion_repr(QuaternionObject * self) +static PyObject *Quaternion_repr(QuaternionObject *self) { PyObject *ret, *tuple; - + if(!BaseMath_ReadCallback(self)) return NULL; - tuple= Quaternion_ToTupleExt(self, -1); + tuple= Quaternion_to_tuple_ext(self, -1); ret= PyUnicode_FromFormat("Quaternion(%R)", tuple); @@ -377,70 +437,57 @@ static PyObject *Quaternion_repr(QuaternionObject * self) return ret; } -//------------------------tp_richcmpr -//returns -1 execption, 0 false, 1 true -static PyObject* Quaternion_richcmpr(PyObject *objectA, PyObject *objectB, int comparison_type) +static PyObject* Quaternion_richcmpr(PyObject *a, PyObject *b, int op) { - QuaternionObject *quatA = NULL, *quatB = NULL; - int result = 0; + PyObject *res; + int ok= -1; /* zero is true */ - if(QuaternionObject_Check(objectA)) { - quatA = (QuaternionObject*)objectA; - if(!BaseMath_ReadCallback(quatA)) - return NULL; - } - if(QuaternionObject_Check(objectB)) { - quatB = (QuaternionObject*)objectB; - if(!BaseMath_ReadCallback(quatB)) + if (QuaternionObject_Check(a) && QuaternionObject_Check(b)) { + QuaternionObject *quatA= (QuaternionObject *)a; + QuaternionObject *quatB= (QuaternionObject *)b; + + if(!BaseMath_ReadCallback(quatA) || !BaseMath_ReadCallback(quatB)) return NULL; - } - if (!quatA || !quatB){ - if (comparison_type == Py_NE){ - Py_RETURN_TRUE; - }else{ - Py_RETURN_FALSE; - } + ok= (EXPP_VectorsAreEqual(quatA->quat, quatB->quat, QUAT_SIZE, 1)) ? 0 : -1; } - switch (comparison_type){ - case Py_EQ: - result = EXPP_VectorsAreEqual(quatA->quat, quatB->quat, QUAT_SIZE, 1); - break; - case Py_NE: - result = EXPP_VectorsAreEqual(quatA->quat, quatB->quat, QUAT_SIZE, 1); - if (result == 0){ - result = 1; - }else{ - result = 0; - } - break; - default: - printf("The result of the comparison could not be evaluated"); - break; - } - if (result == 1){ - Py_RETURN_TRUE; - }else{ - Py_RETURN_FALSE; + switch (op) { + case Py_NE: + ok = !ok; /* pass through */ + case Py_EQ: + res = ok ? Py_False : Py_True; + break; + + case Py_LT: + case Py_LE: + case Py_GT: + case Py_GE: + res = Py_NotImplemented; + break; + default: + PyErr_BadArgument(); + return NULL; } + + return Py_INCREF(res), res; } //---------------------SEQUENCE PROTOCOLS------------------------ //----------------------------len(object)------------------------ //sequence length -static int Quaternion_len(QuaternionObject * self) +static int Quaternion_len(QuaternionObject *UNUSED(self)) { return QUAT_SIZE; } //----------------------------object[]--------------------------- //sequence accessor (get) -static PyObject *Quaternion_item(QuaternionObject * self, int i) +static PyObject *Quaternion_item(QuaternionObject *self, int i) { if(i<0) i= QUAT_SIZE-i; if(i < 0 || i >= QUAT_SIZE) { - PyErr_SetString(PyExc_IndexError, "quaternion[attribute]: array index out of range\n"); + PyErr_SetString(PyExc_IndexError, "quaternion[attribute]: array index out of range"); return NULL; } @@ -452,18 +499,18 @@ static PyObject *Quaternion_item(QuaternionObject * self, int i) } //----------------------------object[]------------------------- //sequence accessor (set) -static int Quaternion_ass_item(QuaternionObject * self, int i, PyObject * ob) +static int Quaternion_ass_item(QuaternionObject *self, int i, PyObject *ob) { float scalar= (float)PyFloat_AsDouble(ob); if(scalar==-1.0f && PyErr_Occurred()) { /* parsed item not a number */ - PyErr_SetString(PyExc_TypeError, "quaternion[index] = x: index argument not a number\n"); + PyErr_SetString(PyExc_TypeError, "quaternion[index] = x: index argument not a number"); return -1; } if(i<0) i= QUAT_SIZE-i; if(i < 0 || i >= QUAT_SIZE){ - PyErr_SetString(PyExc_IndexError, "quaternion[attribute] = x: array assignment index out of range\n"); + PyErr_SetString(PyExc_IndexError, "quaternion[attribute] = x: array assignment index out of range"); return -1; } self->quat[i] = scalar; @@ -475,9 +522,9 @@ static int Quaternion_ass_item(QuaternionObject * self, int i, PyObject * ob) } //----------------------------object[z:y]------------------------ //sequence slice (get) -static PyObject *Quaternion_slice(QuaternionObject * self, int begin, int end) +static PyObject *Quaternion_slice(QuaternionObject *self, int begin, int end) { - PyObject *list = NULL; + PyObject *tuple; int count; if(!BaseMath_ReadCallback(self)) @@ -486,19 +533,18 @@ static PyObject *Quaternion_slice(QuaternionObject * self, int begin, int end) CLAMP(begin, 0, QUAT_SIZE); if (end<0) end= (QUAT_SIZE + 1) + end; CLAMP(end, 0, QUAT_SIZE); - begin = MIN2(begin,end); + begin= MIN2(begin, end); - list = PyList_New(end - begin); - for(count = begin; count < end; count++) { - PyList_SetItem(list, count - begin, - PyFloat_FromDouble(self->quat[count])); + tuple= PyTuple_New(end - begin); + for(count= begin; count < end; count++) { + PyTuple_SET_ITEM(tuple, count - begin, PyFloat_FromDouble(self->quat[count])); } - return list; + return tuple; } //----------------------------object[z:y]------------------------ //sequence slice (set) -static int Quaternion_ass_slice(QuaternionObject * self, int begin, int end, PyObject * seq) +static int Quaternion_ass_slice(QuaternionObject *self, int begin, int end, PyObject *seq) { int i, size; float quat[QUAT_SIZE]; @@ -513,7 +559,7 @@ static int Quaternion_ass_slice(QuaternionObject * self, int begin, int end, PyO if((size=mathutils_array_parse(quat, 0, QUAT_SIZE, seq, "mathutils.Quaternion[begin:end] = []")) == -1) return -1; - + if(size != (end - begin)){ PyErr_SetString(PyExc_TypeError, "quaternion[begin:end] = []: size mismatch in slice assignment"); return -1; @@ -523,7 +569,7 @@ static int Quaternion_ass_slice(QuaternionObject * self, int begin, int end, PyO for(i= 0; i < size; i++) self->quat[begin + i] = quat[i]; - BaseMath_WriteCallback(self); + (void)BaseMath_WriteCallback(self); return 0; } @@ -541,11 +587,11 @@ static PyObject *Quaternion_subscript(QuaternionObject *self, PyObject *item) } else if (PySlice_Check(item)) { Py_ssize_t start, stop, step, slicelength; - if (PySlice_GetIndicesEx((PySliceObject*)item, QUAT_SIZE, &start, &stop, &step, &slicelength) < 0) + if (PySlice_GetIndicesEx((void *)item, QUAT_SIZE, &start, &stop, &step, &slicelength) < 0) return NULL; if (slicelength <= 0) { - return PyList_New(0); + return PyTuple_New(0); } else if (step == 1) { return Quaternion_slice(self, start, stop); @@ -556,9 +602,7 @@ static PyObject *Quaternion_subscript(QuaternionObject *self, PyObject *item) } } else { - PyErr_Format(PyExc_TypeError, - "quaternion indices must be integers, not %.200s", - item->ob_type->tp_name); + PyErr_Format(PyExc_TypeError, "quaternion indices must be integers, not %.200s", Py_TYPE(item)->tp_name); return NULL; } } @@ -577,7 +621,7 @@ static int Quaternion_ass_subscript(QuaternionObject *self, PyObject *item, PyOb else if (PySlice_Check(item)) { Py_ssize_t start, stop, step, slicelength; - if (PySlice_GetIndicesEx((PySliceObject*)item, QUAT_SIZE, &start, &stop, &step, &slicelength) < 0) + if (PySlice_GetIndicesEx((void *)item, QUAT_SIZE, &start, &stop, &step, &slicelength) < 0) return -1; if (step == 1) @@ -588,9 +632,7 @@ static int Quaternion_ass_subscript(QuaternionObject *self, PyObject *item, PyOb } } else { - PyErr_Format(PyExc_TypeError, - "quaternion indices must be integers, not %.200s", - item->ob_type->tp_name); + PyErr_Format(PyExc_TypeError, "quaternion indices must be integers, not %.200s", Py_TYPE(item)->tp_name); return -1; } } @@ -598,40 +640,40 @@ static int Quaternion_ass_subscript(QuaternionObject *self, PyObject *item, PyOb //------------------------NUMERIC PROTOCOLS---------------------- //------------------------obj + obj------------------------------ //addition -static PyObject *Quaternion_add(PyObject * q1, PyObject * q2) +static PyObject *Quaternion_add(PyObject *q1, PyObject *q2) { float quat[QUAT_SIZE]; QuaternionObject *quat1 = NULL, *quat2 = NULL; if(!QuaternionObject_Check(q1) || !QuaternionObject_Check(q2)) { - PyErr_SetString(PyExc_AttributeError, "Quaternion addition: arguments not valid for this operation....\n"); + PyErr_SetString(PyExc_AttributeError, "Quaternion addition: arguments not valid for this operation"); return NULL; } quat1 = (QuaternionObject*)q1; quat2 = (QuaternionObject*)q2; - + if(!BaseMath_ReadCallback(quat1) || !BaseMath_ReadCallback(quat2)) return NULL; add_qt_qtqt(quat, quat1->quat, quat2->quat, 1.0f); - return newQuaternionObject(quat, Py_NEW, NULL); + return newQuaternionObject(quat, Py_NEW, Py_TYPE(q1)); } //------------------------obj - obj------------------------------ //subtraction -static PyObject *Quaternion_sub(PyObject * q1, PyObject * q2) +static PyObject *Quaternion_sub(PyObject *q1, PyObject *q2) { int x; float quat[QUAT_SIZE]; QuaternionObject *quat1 = NULL, *quat2 = NULL; if(!QuaternionObject_Check(q1) || !QuaternionObject_Check(q2)) { - PyErr_SetString(PyExc_AttributeError, "Quaternion addition: arguments not valid for this operation....\n"); + PyErr_SetString(PyExc_AttributeError, "Quaternion addition: arguments not valid for this operation"); return NULL; } - + quat1 = (QuaternionObject*)q1; quat2 = (QuaternionObject*)q2; - + if(!BaseMath_ReadCallback(quat1) || !BaseMath_ReadCallback(quat2)) return NULL; @@ -639,15 +681,23 @@ static PyObject *Quaternion_sub(PyObject * q1, PyObject * q2) quat[x] = quat1->quat[x] - quat2->quat[x]; } - return newQuaternionObject(quat, Py_NEW, NULL); + return newQuaternionObject(quat, Py_NEW, Py_TYPE(q1)); } + +static PyObject *quat_mul_float(QuaternionObject *quat, const float scalar) +{ + float tquat[4]; + copy_qt_qt(tquat, quat->quat); + mul_qt_fl(tquat, scalar); + return newQuaternionObject(tquat, Py_NEW, Py_TYPE(quat)); +} + //------------------------obj * obj------------------------------ //mulplication -static PyObject *Quaternion_mul(PyObject * q1, PyObject * q2) +static PyObject *Quaternion_mul(PyObject *q1, PyObject *q2) { float quat[QUAT_SIZE], scalar; QuaternionObject *quat1 = NULL, *quat2 = NULL; - VectorObject *vec = NULL; if(QuaternionObject_Check(q1)) { quat1 = (QuaternionObject*)q1; @@ -662,49 +712,41 @@ static PyObject *Quaternion_mul(PyObject * q1, PyObject * q2) if(quat1 && quat2) { /* QUAT*QUAT (cross product) */ mul_qt_qtqt(quat, quat1->quat, quat2->quat); - return newQuaternionObject(quat, Py_NEW, NULL); + return newQuaternionObject(quat, Py_NEW, Py_TYPE(q1)); } - /* the only case this can happen (for a supported type is "FLOAT*QUAT" ) */ - if(!QuaternionObject_Check(q1)) { - scalar= PyFloat_AsDouble(q1); - if ((scalar == -1.0 && PyErr_Occurred())==0) { /* FLOAT*QUAT */ - QUATCOPY(quat, quat2->quat); - mul_qt_fl(quat, scalar); - return newQuaternionObject(quat, Py_NEW, NULL); + else if(quat2) { /* FLOAT*QUAT */ + if(((scalar= PyFloat_AsDouble(q1)) == -1.0 && PyErr_Occurred())==0) { + return quat_mul_float(quat2, scalar); } - PyErr_SetString(PyExc_TypeError, "Quaternion multiplication: val * quat, val is not an acceptable type"); - return NULL; } - else { /* QUAT*SOMETHING */ - if(VectorObject_Check(q2)){ /* QUAT*VEC */ - float tvec[3]; - vec = (VectorObject*)q2; - if(vec->size != 3){ - PyErr_SetString(PyExc_TypeError, "Quaternion multiplication: only 3D vector rotations currently supported\n"); - return NULL; - } - if(!BaseMath_ReadCallback(vec)) { - return NULL; - } - - copy_v3_v3(tvec, vec->vec); - mul_qt_v3(quat1->quat, tvec); - return newVectorObject(tvec, 3, Py_NEW, NULL); - } - - scalar= PyFloat_AsDouble(q2); - if ((scalar == -1.0 && PyErr_Occurred())==0) { /* QUAT*FLOAT */ - QUATCOPY(quat, quat1->quat); - mul_qt_fl(quat, scalar); - return newQuaternionObject(quat, Py_NEW, NULL); + else if (quat1) { /* QUAT*FLOAT */ + if((((scalar= PyFloat_AsDouble(q2)) == -1.0 && PyErr_Occurred())==0)) { + return quat_mul_float(quat1, scalar); } } - - PyErr_SetString(PyExc_TypeError, "Quaternion multiplication: arguments not acceptable for this operation\n"); + else { + BLI_assert(!"internal error"); + } + + PyErr_Format(PyExc_TypeError, "Quaternion multiplication: not supported between '%.200s' and '%.200s' types", Py_TYPE(q1)->tp_name, Py_TYPE(q2)->tp_name); return NULL; } +/* -obj + returns the negative of this object*/ +static PyObject *Quaternion_neg(QuaternionObject *self) +{ + float tquat[QUAT_SIZE]; + + if(!BaseMath_ReadCallback(self)) + return NULL; + + negate_v4_v4(tquat, self->quat); + return newQuaternionObject(tquat, Py_NEW, Py_TYPE(self)); +} + + //-----------------PROTOCOL DECLARATIONS-------------------------- static PySequenceMethods Quaternion_SeqMethods = { (lenfunc) Quaternion_len, /* sq_length */ @@ -732,7 +774,7 @@ static PyNumberMethods Quaternion_NumMethods = { 0, /*nb_remainder*/ 0, /*nb_divmod*/ 0, /*nb_power*/ - (unaryfunc) 0, /*nb_negative*/ + (unaryfunc) Quaternion_neg, /*nb_negative*/ (unaryfunc) 0, /*tp_positive*/ (unaryfunc) 0, /*tp_absolute*/ (inquiry) 0, /*tp_bool*/ @@ -762,17 +804,17 @@ static PyNumberMethods Quaternion_NumMethods = { 0, /* nb_index */ }; -static PyObject *Quaternion_getAxis( QuaternionObject * self, void *type ) +static PyObject *Quaternion_getAxis( QuaternionObject *self, void *type ) { return Quaternion_item(self, GET_INT_FROM_POINTER(type)); } -static int Quaternion_setAxis( QuaternionObject * self, PyObject * value, void * type ) +static int Quaternion_setAxis( QuaternionObject *self, PyObject *value, void *type ) { return Quaternion_ass_item(self, GET_INT_FROM_POINTER(type), value); } -static PyObject *Quaternion_getMagnitude( QuaternionObject * self, void *type ) +static PyObject *Quaternion_getMagnitude(QuaternionObject *self, void *UNUSED(closure)) { if(!BaseMath_ReadCallback(self)) return NULL; @@ -780,31 +822,40 @@ static PyObject *Quaternion_getMagnitude( QuaternionObject * self, void *type ) return PyFloat_FromDouble(sqrt(dot_qtqt(self->quat, self->quat))); } -static PyObject *Quaternion_getAngle( QuaternionObject * self, void *type ) +static PyObject *Quaternion_getAngle(QuaternionObject *self, void *UNUSED(closure)) { + float tquat[4]; + if(!BaseMath_ReadCallback(self)) return NULL; - return PyFloat_FromDouble(2.0 * (saacos(self->quat[0]))); + normalize_qt_qt(tquat, self->quat); + return PyFloat_FromDouble(2.0 * (saacos(tquat[0]))); } -static int Quaternion_setAngle(QuaternionObject * self, PyObject * value, void * type) +static int Quaternion_setAngle(QuaternionObject *self, PyObject *value, void *UNUSED(closure)) { - float axis[3]; - float angle; + float tquat[4]; + float len; + + float axis[3], angle_dummy; + double angle; if(!BaseMath_ReadCallback(self)) return -1; - quat_to_axis_angle(axis, &angle, self->quat); + len= normalize_qt_qt(tquat, self->quat); + quat_to_axis_angle(axis, &angle_dummy, tquat); - angle = PyFloat_AsDouble(value); + angle= PyFloat_AsDouble(value); if(angle==-1.0f && PyErr_Occurred()) { /* parsed item not a number */ PyErr_SetString(PyExc_TypeError, "quaternion.angle = value: float expected"); return -1; } + angle= fmod(angle + M_PI*2, M_PI*4) - M_PI*2; + /* If the axis of rotation is 0,0,0 set it to 1,0,0 - for zero-degree rotations */ if( EXPP_FloatsAreEqual(axis[0], 0.0f, 10) && EXPP_FloatsAreEqual(axis[1], 0.0f, 10) && @@ -812,8 +863,9 @@ static int Quaternion_setAngle(QuaternionObject * self, PyObject * value, void * ) { axis[0] = 1.0f; } - + axis_angle_to_quat(self->quat, axis, angle); + mul_qt_fl(self->quat, len); if(!BaseMath_WriteCallback(self)) return -1; @@ -821,15 +873,18 @@ static int Quaternion_setAngle(QuaternionObject * self, PyObject * value, void * return 0; } -static PyObject *Quaternion_getAxisVec(QuaternionObject *self, void *type) +static PyObject *Quaternion_getAxisVec(QuaternionObject *self, void *UNUSED(closure)) { + float tquat[4]; + float axis[3]; float angle; if(!BaseMath_ReadCallback(self)) return NULL; - - quat_to_axis_angle(axis, &angle, self->quat); + + normalize_qt_qt(tquat, self->quat); + quat_to_axis_angle(axis, &angle, tquat); /* If the axis of rotation is 0,0,0 set it to 1,0,0 - for zero-degree rotations */ if( EXPP_FloatsAreEqual(axis[0], 0.0f, 10) && @@ -842,28 +897,25 @@ static PyObject *Quaternion_getAxisVec(QuaternionObject *self, void *type) return (PyObject *) newVectorObject(axis, 3, Py_NEW, NULL); } -static int Quaternion_setAxisVec(QuaternionObject *self, PyObject *value, void *type) +static int Quaternion_setAxisVec(QuaternionObject *self, PyObject *value, void *UNUSED(closure)) { + float tquat[4]; + float len; + float axis[3]; float angle; - - VectorObject *vec; if(!BaseMath_ReadCallback(self)) return -1; - quat_to_axis_angle(axis, &angle, self->quat); + len= normalize_qt_qt(tquat, self->quat); + quat_to_axis_angle(axis, &angle, tquat); /* axis value is unused */ - if(!VectorObject_Check(value)) { - PyErr_SetString(PyExc_TypeError, "quaternion.axis = value: expected a 3D Vector"); - return -1; - } - - vec= (VectorObject *)value; - if(!BaseMath_ReadCallback(vec)) + if (mathutils_array_parse(axis, 3, 3, value, "quat.axis = other") == -1) return -1; - axis_angle_to_quat(self->quat, vec->vec, angle); + axis_angle_to_quat(self->quat, axis, angle); + mul_qt_fl(self->quat, len); if(!BaseMath_WriteCallback(self)) return -1; @@ -875,10 +927,15 @@ static int Quaternion_setAxisVec(QuaternionObject *self, PyObject *value, void * static PyObject *Quaternion_new(PyTypeObject *type, PyObject *args, PyObject *kwds) { PyObject *seq= NULL; - float angle = 0.0f; + double angle = 0.0f; float quat[QUAT_SIZE]= {0.0f, 0.0f, 0.0f, 0.0f}; - if(!PyArg_ParseTuple(args, "|Of:mathutils.Quaternion", &seq, &angle)) + if(kwds && PyDict_Size(kwds)) { + PyErr_SetString(PyExc_TypeError, "mathutils.Quaternion(): takes no keyword args"); + return NULL; + } + + if(!PyArg_ParseTuple(args, "|Od:mathutils.Quaternion", &seq, &angle)) return NULL; switch(PyTuple_GET_SIZE(args)) { @@ -891,28 +948,55 @@ static PyObject *Quaternion_new(PyTypeObject *type, PyObject *args, PyObject *kw case 2: if (mathutils_array_parse(quat, 3, 3, seq, "mathutils.Quaternion()") == -1) return NULL; - + angle= fmod(angle + M_PI*2, M_PI*4) - M_PI*2; /* clamp because of precision issues */ axis_angle_to_quat(quat, quat, angle); break; /* PyArg_ParseTuple assures no more then 2 */ } - return newQuaternionObject(quat, Py_NEW, NULL); + return newQuaternionObject(quat, Py_NEW, type); } +static PyObject *quat__apply_to_copy(PyNoArgsFunction quat_func, QuaternionObject *self) +{ + PyObject *ret= Quaternion_copy(self); + PyObject *ret_dummy= quat_func(ret); + if(ret_dummy) { + Py_DECREF(ret_dummy); + return (PyObject *)ret; + } + else { /* error */ + Py_DECREF(ret); + return NULL; + } +} //-----------------------METHOD DEFINITIONS ---------------------- static struct PyMethodDef Quaternion_methods[] = { - {"identity", (PyCFunction) Quaternion_Identity, METH_NOARGS, Quaternion_Identity_doc}, - {"negate", (PyCFunction) Quaternion_Negate, METH_NOARGS, Quaternion_Negate_doc}, - {"conjugate", (PyCFunction) Quaternion_Conjugate, METH_NOARGS, Quaternion_Conjugate_doc}, - {"inverse", (PyCFunction) Quaternion_Inverse, METH_NOARGS, Quaternion_Inverse_doc}, - {"normalize", (PyCFunction) Quaternion_Normalize, METH_NOARGS, Quaternion_Normalize_doc}, - {"to_euler", (PyCFunction) Quaternion_ToEuler, METH_VARARGS, Quaternion_ToEuler_doc}, - {"to_matrix", (PyCFunction) Quaternion_ToMatrix, METH_NOARGS, Quaternion_ToMatrix_doc}, - {"cross", (PyCFunction) Quaternion_Cross, METH_O, Quaternion_Cross_doc}, - {"dot", (PyCFunction) Quaternion_Dot, METH_O, Quaternion_Dot_doc}, - {"difference", (PyCFunction) Quaternion_Difference, METH_O, Quaternion_Difference_doc}, - {"slerp", (PyCFunction) Quaternion_Slerp, METH_VARARGS, Quaternion_Slerp_doc}, + /* in place only */ + {"identity", (PyCFunction) Quaternion_identity, METH_NOARGS, Quaternion_identity_doc}, + {"negate", (PyCFunction) Quaternion_negate, METH_NOARGS, Quaternion_negate_doc}, + + /* operate on original or copy */ + {"conjugate", (PyCFunction) Quaternion_conjugate, METH_NOARGS, Quaternion_conjugate_doc}, + {"conjugated", (PyCFunction) Quaternion_conjugated, METH_NOARGS, Quaternion_conjugated_doc}, + + {"invert", (PyCFunction) Quaternion_invert, METH_NOARGS, Quaternion_invert_doc}, + {"inverted", (PyCFunction) Quaternion_inverted, METH_NOARGS, Quaternion_inverted_doc}, + + {"normalize", (PyCFunction) Quaternion_normalize, METH_NOARGS, Quaternion_normalize_doc}, + {"normalized", (PyCFunction) Quaternion_normalized, METH_NOARGS, Quaternion_normalized_doc}, + + /* return converted representation */ + {"to_euler", (PyCFunction) Quaternion_to_euler, METH_VARARGS, Quaternion_to_euler_doc}, + {"to_matrix", (PyCFunction) Quaternion_to_matrix, METH_NOARGS, Quaternion_to_matrix_doc}, + + /* operation between 2 or more types */ + {"cross", (PyCFunction) Quaternion_cross, METH_O, Quaternion_cross_doc}, + {"dot", (PyCFunction) Quaternion_dot, METH_O, Quaternion_dot_doc}, + {"difference", (PyCFunction) Quaternion_difference, METH_O, Quaternion_difference_doc}, + {"slerp", (PyCFunction) Quaternion_slerp, METH_VARARGS, Quaternion_slerp_doc}, + {"rotate", (PyCFunction) Quaternion_rotate, METH_VARARGS, Quaternion_rotate_doc}, + {"__copy__", (PyCFunction) Quaternion_copy, METH_NOARGS, Quaternion_copy_doc}, {"copy", (PyCFunction) Quaternion_copy, METH_NOARGS, Quaternion_copy_doc}, {NULL, NULL, 0, NULL} @@ -922,25 +1006,25 @@ static struct PyMethodDef Quaternion_methods[] = { /* Python attributes get/set structure: */ /*****************************************************************************/ static PyGetSetDef Quaternion_getseters[] = { - {"w", (getter)Quaternion_getAxis, (setter)Quaternion_setAxis, "Quaternion W value.\n\n:type: float", (void *)0}, - {"x", (getter)Quaternion_getAxis, (setter)Quaternion_setAxis, "Quaternion X axis.\n\n:type: float", (void *)1}, - {"y", (getter)Quaternion_getAxis, (setter)Quaternion_setAxis, "Quaternion Y axis.\n\n:type: float", (void *)2}, - {"z", (getter)Quaternion_getAxis, (setter)Quaternion_setAxis, "Quaternion Z axis.\n\n:type: float", (void *)3}, - {"magnitude", (getter)Quaternion_getMagnitude, (setter)NULL, "Size of the quaternion (readonly).\n\n:type: float", NULL}, - {"angle", (getter)Quaternion_getAngle, (setter)Quaternion_setAngle, "angle of the quaternion.\n\n:type: float", NULL}, - {"axis",(getter)Quaternion_getAxisVec, (setter)Quaternion_setAxisVec, "quaternion axis as a vector.\n\n:type: :class:`Vector`", NULL}, - {"is_wrapped", (getter)BaseMathObject_getWrapped, (setter)NULL, BaseMathObject_Wrapped_doc, NULL}, - {"owner", (getter)BaseMathObject_getOwner, (setter)NULL, BaseMathObject_Owner_doc, NULL}, + {(char *)"w", (getter)Quaternion_getAxis, (setter)Quaternion_setAxis, (char *)"Quaternion W value.\n\n:type: float", (void *)0}, + {(char *)"x", (getter)Quaternion_getAxis, (setter)Quaternion_setAxis, (char *)"Quaternion X axis.\n\n:type: float", (void *)1}, + {(char *)"y", (getter)Quaternion_getAxis, (setter)Quaternion_setAxis, (char *)"Quaternion Y axis.\n\n:type: float", (void *)2}, + {(char *)"z", (getter)Quaternion_getAxis, (setter)Quaternion_setAxis, (char *)"Quaternion Z axis.\n\n:type: float", (void *)3}, + {(char *)"magnitude", (getter)Quaternion_getMagnitude, (setter)NULL, (char *)"Size of the quaternion (readonly).\n\n:type: float", NULL}, + {(char *)"angle", (getter)Quaternion_getAngle, (setter)Quaternion_setAngle, (char *)"angle of the quaternion.\n\n:type: float", NULL}, + {(char *)"axis",(getter)Quaternion_getAxisVec, (setter)Quaternion_setAxisVec, (char *)"quaternion axis as a vector.\n\n:type: :class:`Vector`", NULL}, + {(char *)"is_wrapped", (getter)BaseMathObject_getWrapped, (setter)NULL, (char *)BaseMathObject_Wrapped_doc, NULL}, + {(char *)"owner", (getter)BaseMathObject_getOwner, (setter)NULL, (char *)BaseMathObject_Owner_doc, NULL}, {NULL,NULL,NULL,NULL,NULL} /* Sentinel */ }; //------------------PY_OBECT DEFINITION-------------------------- static char quaternion_doc[] = -"This object gives access to Quaternions in Blender."; - +"This object gives access to Quaternions in Blender." +; PyTypeObject quaternion_Type = { PyVarObject_HEAD_INIT(NULL, 0) - "quaternion", //tp_name + "mathutils.Quaternion", //tp_name sizeof(QuaternionObject), //tp_basicsize 0, //tp_itemsize (destructor)BaseMathObject_dealloc, //tp_dealloc @@ -995,7 +1079,7 @@ PyTypeObject quaternion_Type = { PyObject *newQuaternionObject(float *quat, int type, PyTypeObject *base_type) { QuaternionObject *self; - + if(base_type) self = (QuaternionObject *)base_type->tp_alloc(base_type, 0); else self = PyObject_NEW(QuaternionObject, &quaternion_Type); |