diff options
Diffstat (limited to 'source/blender/python/generic/mathutils_quat.c')
| -rw-r--r-- | source/blender/python/generic/mathutils_quat.c | 961 |
1 files changed, 961 insertions, 0 deletions
diff --git a/source/blender/python/generic/mathutils_quat.c b/source/blender/python/generic/mathutils_quat.c new file mode 100644 index 00000000000..f94e5e2a03a --- /dev/null +++ b/source/blender/python/generic/mathutils_quat.c @@ -0,0 +1,961 @@ +/* + * $Id$ + * + * ***** 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" + +#define QUAT_SIZE 4 + +//-----------------------------METHODS------------------------------ + +/* note: BaseMath_ReadCallback must be called beforehand */ +static PyObject *Quaternion_ToTupleExt(QuaternionObject *self, int ndigits) +{ + PyObject *ret; + int i; + + ret= PyTuple_New(QUAT_SIZE); + + if(ndigits >= 0) { + for(i= 0; i < QUAT_SIZE; i++) { + PyTuple_SET_ITEM(ret, i, PyFloat_FromDouble(double_round((double)self->quat[i], ndigits))); + } + } + else { + for(i= 0; i < QUAT_SIZE; i++) { + PyTuple_SET_ITEM(ret, i, PyFloat_FromDouble(self->quat[i])); + } + } + + return ret; +} + +static char Quaternion_ToEuler_doc[] = +".. method:: to_euler(order, euler_compat)\n" +"\n" +" Return Euler representation of the quaternion.\n" +"\n" +" :arg order: Optional rotation order argument in ['XYZ', 'XZY', 'YXZ', 'YZX', 'ZXY', 'ZYX'].\n" +" :type order: string\n" +" :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) +{ + float eul[3]; + 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; + + if(order_str) { + order= euler_order_from_string(order_str, "Matrix.to_euler()"); + + if(order == -1) + return NULL; + } + + if(eul_compat) { + float mat[3][3]; + + if(!BaseMath_ReadCallback(eul_compat)) + return NULL; + + quat_to_mat3(mat, self->quat); + + 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); + } + + return newEulerObject(eul, order, Py_NEW, NULL); +} +//----------------------------Quaternion.toMatrix()------------------ +static char Quaternion_ToMatrix_doc[] = +".. method:: to_matrix(other)\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) +{ + float mat[9]; /* all values are set */ + + if(!BaseMath_ReadCallback(self)) + return NULL; + + quat_to_mat3( (float (*)[3]) mat,self->quat); + return newMatrixObject(mat, 3, 3, Py_NEW, NULL); +} + +//----------------------------Quaternion.cross(other)------------------ +static char Quaternion_Cross_doc[] = +".. method:: cross(other)\n" +"\n" +" Return the cross product of this quaternion and another.\n" +"\n" +" :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) +{ + float quat[QUAT_SIZE]; + + if (!QuaternionObject_Check(value)) { + PyErr_SetString( PyExc_TypeError, "quat.cross(value): expected a quaternion argument" ); + return NULL; + } + + if(!BaseMath_ReadCallback(self) || !BaseMath_ReadCallback(value)) + return NULL; + + mul_qt_qtqt(quat, self->quat, value->quat); + return newQuaternionObject(quat, Py_NEW, NULL); +} + +//----------------------------Quaternion.dot(other)------------------ +static char Quaternion_Dot_doc[] = +".. method:: dot(other)\n" +"\n" +" Return the dot product of this quaternion and another.\n" +"\n" +" :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) +{ + if (!QuaternionObject_Check(value)) { + PyErr_SetString( PyExc_TypeError, "quat.dot(value): expected a quaternion argument" ); + return NULL; + } + + if(!BaseMath_ReadCallback(self) || !BaseMath_ReadCallback(value)) + return NULL; + + return PyFloat_FromDouble(dot_qtqt(self->quat, value->quat)); +} + +static char Quaternion_Difference_doc[] = +".. function:: difference(other)\n" +"\n" +" Returns a quaternion representing the rotational difference.\n" +"\n" +" :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) +{ + float quat[QUAT_SIZE], tempQuat[QUAT_SIZE]; + double dot = 0.0f; + int x; + + if (!QuaternionObject_Check(value)) { + PyErr_SetString( PyExc_TypeError, "quat.difference(value): expected a quaternion argument" ); + return NULL; + } + + if(!BaseMath_ReadCallback(self) || !BaseMath_ReadCallback(value)) + return NULL; + + copy_qt_qt(tempQuat, self->quat); + conjugate_qt(tempQuat); + dot = sqrt(dot_qtqt(tempQuat, tempQuat)); + + for(x = 0; x < QUAT_SIZE; x++) { + tempQuat[x] /= (float)(dot * dot); + } + mul_qt_qtqt(quat, tempQuat, value->quat); + return newQuaternionObject(quat, Py_NEW, NULL); +} + +static char Quaternion_Slerp_doc[] = +".. function:: slerp(other, factor)\n" +"\n" +" Returns the interpolation of two quaternions.\n" +"\n" +" :arg other: value to interpolate with.\n" +" :type other: :class:`Quaternion`\n" +" :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) +{ + QuaternionObject *value; + float quat[QUAT_SIZE], fac; + + if(!PyArg_ParseTuple(args, "O!f:slerp", &quaternion_Type, &value, &fac)) { + PyErr_SetString(PyExc_TypeError, "quat.slerp(): expected Quaternion types and float"); + return NULL; + } + + if(!BaseMath_ReadCallback(self) || !BaseMath_ReadCallback(value)) + return NULL; + + if(fac > 1.0f || fac < 0.0f) { + PyErr_SetString(PyExc_AttributeError, "quat.slerp(): interpolation factor must be between 0.0 and 1.0"); + return NULL; + } + + interp_qt_qtqt(quat, self->quat, value->quat, fac); + + return newQuaternionObject(quat, Py_NEW, NULL); +} + +//----------------------------Quaternion.normalize()---------------- +//normalize the axis of rotation of [theta,vector] +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) +{ + if(!BaseMath_ReadCallback(self)) + return NULL; + + normalize_qt(self->quat); + + BaseMath_WriteCallback(self); + Py_INCREF(self); + return (PyObject*)self; +} +//----------------------------Quaternion.inverse()------------------ +static char Quaternion_Inverse_doc[] = +".. function:: inverse()\n" +"\n" +" Set the quaternion to its inverse.\n" +"\n" +" :return: an instance of itself.\n" +" :rtype: :class:`Quaternion`\n"; + +static PyObject *Quaternion_Inverse(QuaternionObject * self) +{ + if(!BaseMath_ReadCallback(self)) + return NULL; + + invert_qt(self->quat); + + BaseMath_WriteCallback(self); + Py_INCREF(self); + return (PyObject*)self; +} +//----------------------------Quaternion.identity()----------------- +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) +{ + if(!BaseMath_ReadCallback(self)) + return NULL; + + unit_qt(self->quat); + + BaseMath_WriteCallback(self); + Py_INCREF(self); + return (PyObject*)self; +} +//----------------------------Quaternion.negate()------------------- +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) +{ + if(!BaseMath_ReadCallback(self)) + return NULL; + + mul_qt_fl(self->quat, -1.0f); + + BaseMath_WriteCallback(self); + Py_INCREF(self); + return (PyObject*)self; +} +//----------------------------Quaternion.conjugate()---------------- +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) +{ + if(!BaseMath_ReadCallback(self)) + return NULL; + + conjugate_qt(self->quat); + + BaseMath_WriteCallback(self); + Py_INCREF(self); + return (PyObject*)self; +} +//----------------------------Quaternion.copy()---------------- +static char Quaternion_copy_doc[] = +".. function:: copy()\n" +"\n" +" Returns a copy of this quaternion.\n" +"\n" +" :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) +{ + if(!BaseMath_ReadCallback(self)) + return NULL; + + return newQuaternionObject(self->quat, Py_NEW, Py_TYPE(self)); +} + +//----------------------------print object (internal)-------------- +//print the object to screen +static PyObject *Quaternion_repr(QuaternionObject * self) +{ + PyObject *ret, *tuple; + + if(!BaseMath_ReadCallback(self)) + return NULL; + + tuple= Quaternion_ToTupleExt(self, -1); + + ret= PyUnicode_FromFormat("Quaternion(%R)", tuple); + + Py_DECREF(tuple); + return ret; +} + +//------------------------tp_richcmpr +//returns -1 execption, 0 false, 1 true +static PyObject* Quaternion_richcmpr(PyObject *objectA, PyObject *objectB, int comparison_type) +{ + QuaternionObject *quatA = NULL, *quatB = NULL; + int result = 0; + + if(QuaternionObject_Check(objectA)) { + quatA = (QuaternionObject*)objectA; + if(!BaseMath_ReadCallback(quatA)) + return NULL; + } + if(QuaternionObject_Check(objectB)) { + quatB = (QuaternionObject*)objectB; + if(!BaseMath_ReadCallback(quatB)) + return NULL; + } + + if (!quatA || !quatB){ + if (comparison_type == Py_NE){ + Py_RETURN_TRUE; + }else{ + Py_RETURN_FALSE; + } + } + + 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; + } +} + +//---------------------SEQUENCE PROTOCOLS------------------------ +//----------------------------len(object)------------------------ +//sequence length +static int Quaternion_len(QuaternionObject * self) +{ + return QUAT_SIZE; +} +//----------------------------object[]--------------------------- +//sequence accessor (get) +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"); + return NULL; + } + + if(!BaseMath_ReadIndexCallback(self, i)) + return NULL; + + return PyFloat_FromDouble(self->quat[i]); + +} +//----------------------------object[]------------------------- +//sequence accessor (set) +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"); + 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"); + return -1; + } + self->quat[i] = scalar; + + if(!BaseMath_WriteIndexCallback(self, i)) + return -1; + + return 0; +} +//----------------------------object[z:y]------------------------ +//sequence slice (get) +static PyObject *Quaternion_slice(QuaternionObject * self, int begin, int end) +{ + PyObject *list = NULL; + int count; + + if(!BaseMath_ReadCallback(self)) + return NULL; + + CLAMP(begin, 0, QUAT_SIZE); + if (end<0) end= (QUAT_SIZE + 1) + end; + CLAMP(end, 0, QUAT_SIZE); + 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])); + } + + return list; +} +//----------------------------object[z:y]------------------------ +//sequence slice (set) +static int Quaternion_ass_slice(QuaternionObject * self, int begin, int end, PyObject * seq) +{ + int i, size; + float quat[QUAT_SIZE]; + + if(!BaseMath_ReadCallback(self)) + return -1; + + CLAMP(begin, 0, QUAT_SIZE); + if (end<0) end= (QUAT_SIZE + 1) + end; + CLAMP(end, 0, QUAT_SIZE); + begin = MIN2(begin,end); + + 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; + } + + /* parsed well - now set in vector */ + for(i= 0; i < size; i++) + self->quat[begin + i] = quat[i]; + + BaseMath_WriteCallback(self); + return 0; +} + + +static PyObject *Quaternion_subscript(QuaternionObject *self, PyObject *item) +{ + if (PyIndex_Check(item)) { + Py_ssize_t i; + i = PyNumber_AsSsize_t(item, PyExc_IndexError); + if (i == -1 && PyErr_Occurred()) + return NULL; + if (i < 0) + i += QUAT_SIZE; + return Quaternion_item(self, i); + } else if (PySlice_Check(item)) { + Py_ssize_t start, stop, step, slicelength; + + if (PySlice_GetIndicesEx((PySliceObject*)item, QUAT_SIZE, &start, &stop, &step, &slicelength) < 0) + return NULL; + + if (slicelength <= 0) { + return PyList_New(0); + } + else if (step == 1) { + return Quaternion_slice(self, start, stop); + } + else { + PyErr_SetString(PyExc_TypeError, "slice steps not supported with quaternions"); + return NULL; + } + } + else { + PyErr_Format(PyExc_TypeError, + "quaternion indices must be integers, not %.200s", + item->ob_type->tp_name); + return NULL; + } +} + + +static int Quaternion_ass_subscript(QuaternionObject *self, PyObject *item, PyObject *value) +{ + if (PyIndex_Check(item)) { + Py_ssize_t i = PyNumber_AsSsize_t(item, PyExc_IndexError); + if (i == -1 && PyErr_Occurred()) + return -1; + if (i < 0) + i += QUAT_SIZE; + return Quaternion_ass_item(self, i, value); + } + else if (PySlice_Check(item)) { + Py_ssize_t start, stop, step, slicelength; + + if (PySlice_GetIndicesEx((PySliceObject*)item, QUAT_SIZE, &start, &stop, &step, &slicelength) < 0) + return -1; + + if (step == 1) + return Quaternion_ass_slice(self, start, stop, value); + else { + PyErr_SetString(PyExc_TypeError, "slice steps not supported with quaternion"); + return -1; + } + } + else { + PyErr_Format(PyExc_TypeError, + "quaternion indices must be integers, not %.200s", + item->ob_type->tp_name); + return -1; + } +} + +//------------------------NUMERIC PROTOCOLS---------------------- +//------------------------obj + obj------------------------------ +//addition +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"); + 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); +} +//------------------------obj - obj------------------------------ +//subtraction +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"); + return NULL; + } + + quat1 = (QuaternionObject*)q1; + quat2 = (QuaternionObject*)q2; + + if(!BaseMath_ReadCallback(quat1) || !BaseMath_ReadCallback(quat2)) + return NULL; + + for(x = 0; x < QUAT_SIZE; x++) { + quat[x] = quat1->quat[x] - quat2->quat[x]; + } + + return newQuaternionObject(quat, Py_NEW, NULL); +} +//------------------------obj * obj------------------------------ +//mulplication +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; + if(!BaseMath_ReadCallback(quat1)) + return NULL; + } + if(QuaternionObject_Check(q2)) { + quat2 = (QuaternionObject*)q2; + if(!BaseMath_ReadCallback(quat2)) + return NULL; + } + + if(quat1 && quat2) { /* QUAT*QUAT (dot product) */ + return PyFloat_FromDouble(dot_qtqt(quat1->quat, quat2->quat)); + } + + /* 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); + } + 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 */ + vec = (VectorObject*)q2; + if(vec->size != 3){ + PyErr_SetString(PyExc_TypeError, "Quaternion multiplication: only 3D vector rotations currently supported\n"); + return NULL; + } + return quat_rotation((PyObject*)quat1, (PyObject*)vec); /* vector updating done inside the func */ + } + + 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); + } + } + + PyErr_SetString(PyExc_TypeError, "Quaternion multiplication: arguments not acceptable for this operation\n"); + return NULL; +} + +//-----------------PROTOCOL DECLARATIONS-------------------------- +static PySequenceMethods Quaternion_SeqMethods = { + (lenfunc) Quaternion_len, /* sq_length */ + (binaryfunc) NULL, /* sq_concat */ + (ssizeargfunc) NULL, /* sq_repeat */ + (ssizeargfunc) Quaternion_item, /* sq_item */ + (ssizessizeargfunc) NULL, /* sq_slice, deprecated */ + (ssizeobjargproc) Quaternion_ass_item, /* sq_ass_item */ + (ssizessizeobjargproc) NULL, /* sq_ass_slice, deprecated */ + (objobjproc) NULL, /* sq_contains */ + (binaryfunc) NULL, /* sq_inplace_concat */ + (ssizeargfunc) NULL, /* sq_inplace_repeat */ +}; + +static PyMappingMethods Quaternion_AsMapping = { + (lenfunc)Quaternion_len, + (binaryfunc)Quaternion_subscript, + (objobjargproc)Quaternion_ass_subscript +}; + +static PyNumberMethods Quaternion_NumMethods = { + (binaryfunc) Quaternion_add, /*nb_add*/ + (binaryfunc) Quaternion_sub, /*nb_subtract*/ + (binaryfunc) Quaternion_mul, /*nb_multiply*/ + 0, /*nb_remainder*/ + 0, /*nb_divmod*/ + 0, /*nb_power*/ + (unaryfunc) 0, /*nb_negative*/ + (unaryfunc) 0, /*tp_positive*/ + (unaryfunc) 0, /*tp_absolute*/ + (inquiry) 0, /*tp_bool*/ + (unaryfunc) 0, /*nb_invert*/ + 0, /*nb_lshift*/ + (binaryfunc)0, /*nb_rshift*/ + 0, /*nb_and*/ + 0, /*nb_xor*/ + 0, /*nb_or*/ + 0, /*nb_int*/ + 0, /*nb_reserved*/ + 0, /*nb_float*/ + 0, /* nb_inplace_add */ + 0, /* nb_inplace_subtract */ + 0, /* nb_inplace_multiply */ + 0, /* nb_inplace_remainder */ + 0, /* nb_inplace_power */ + 0, /* nb_inplace_lshift */ + 0, /* nb_inplace_rshift */ + 0, /* nb_inplace_and */ + 0, /* nb_inplace_xor */ + 0, /* nb_inplace_or */ + 0, /* nb_floor_divide */ + 0, /* nb_true_divide */ + 0, /* nb_inplace_floor_divide */ + 0, /* nb_inplace_true_divide */ + 0, /* nb_index */ +}; + +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 ) +{ + return Quaternion_ass_item(self, GET_INT_FROM_POINTER(type), value); +} + +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 ) +{ + return PyFloat_FromDouble(2.0 * (saacos(self->quat[0]))); +} + +static PyObject *Quaternion_getAxisVec( QuaternionObject * self, void *type ) +{ + float vec[3]; + + normalize_v3_v3(vec, self->quat+1); + + /* If the axis of rotation is 0,0,0 set it to 1,0,0 - for zero-degree rotations */ + if( EXPP_FloatsAreEqual(vec[0], 0.0f, 10) && + EXPP_FloatsAreEqual(vec[1], 0.0f, 10) && + EXPP_FloatsAreEqual(vec[2], 0.0f, 10) ){ + vec[0] = 1.0f; + } + return (PyObject *) newVectorObject(vec, 3, Py_NEW, NULL); +} + +//----------------------------------mathutils.Quaternion() -------------- +static PyObject *Quaternion_new(PyTypeObject *type, PyObject *args, PyObject *kwds) +{ + PyObject *seq= NULL; + float angle = 0.0f; + float quat[QUAT_SIZE]= {0.0f, 0.0f, 0.0f, 0.0f}; + + if(!PyArg_ParseTuple(args, "|Of:mathutils.Quaternion", &seq, &angle)) + return NULL; + + switch(PyTuple_GET_SIZE(args)) { + case 0: + break; + case 1: + if (mathutils_array_parse(quat, QUAT_SIZE, QUAT_SIZE, seq, "mathutils.Quaternion()") == -1) + return NULL; + break; + case 2: + if (mathutils_array_parse(quat, 3, 3, seq, "mathutils.Quaternion()") == -1) + return NULL; + + axis_angle_to_quat(quat, quat, angle); + break; + /* PyArg_ParseTuple assures no more then 2 */ + } + return newQuaternionObject(quat, Py_NEW, 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}, + {"__copy__", (PyCFunction) Quaternion_copy, METH_NOARGS, Quaternion_copy_doc}, + {"copy", (PyCFunction) Quaternion_copy, METH_NOARGS, Quaternion_copy_doc}, + {NULL, NULL, 0, NULL} +}; + +/*****************************************************************************/ +/* Python attributes get/set structure: */ +/*****************************************************************************/ +static PyGetSetDef Quaternion_getseters[] = { + {"w", (getter)Quaternion_getAxis, (setter)Quaternion_setAxis, "Quaternion W value. **type** float", (void *)0}, + {"x", (getter)Quaternion_getAxis, (setter)Quaternion_setAxis, "Quaternion X axis. **type** float", (void *)1}, + {"y", (getter)Quaternion_getAxis, (setter)Quaternion_setAxis, "Quaternion Y axis. **type** float", (void *)2}, + {"z", (getter)Quaternion_getAxis, (setter)Quaternion_setAxis, "Quaternion Z axis. **type** float", (void *)3}, + {"magnitude", (getter)Quaternion_getMagnitude, (setter)NULL, "Size of the quaternion (readonly). **type** float", NULL}, + {"angle", (getter)Quaternion_getAngle, (setter)NULL, "angle of the quaternion (readonly). **type** float", NULL}, + {"axis",(getter)Quaternion_getAxisVec, (setter)NULL, "quaternion axis as a vector (readonly). **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}, + {NULL,NULL,NULL,NULL,NULL} /* Sentinel */ +}; + +//------------------PY_OBECT DEFINITION-------------------------- +static char quaternion_doc[] = +"This object gives access to Quaternions in Blender."; + +PyTypeObject quaternion_Type = { + PyVarObject_HEAD_INIT(NULL, 0) + "quaternion", //tp_name + sizeof(QuaternionObject), //tp_basicsize + 0, //tp_itemsize + (destructor)BaseMathObject_dealloc, //tp_dealloc + 0, //tp_print + 0, //tp_getattr + 0, //tp_setattr + 0, //tp_compare + (reprfunc) Quaternion_repr, //tp_repr + &Quaternion_NumMethods, //tp_as_number + &Quaternion_SeqMethods, //tp_as_sequence + &Quaternion_AsMapping, //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 + quaternion_doc, //tp_doc + 0, //tp_traverse + 0, //tp_clear + (richcmpfunc)Quaternion_richcmpr, //tp_richcompare + 0, //tp_weaklistoffset + 0, //tp_iter + 0, //tp_iternext + Quaternion_methods, //tp_methods + 0, //tp_members + Quaternion_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 + Quaternion_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 +}; +//------------------------newQuaternionObject (internal)------------- +//creates a new quaternion 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 *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); + + /* init callbacks as NULL */ + self->cb_user= NULL; + self->cb_type= self->cb_subtype= 0; + + if(type == Py_WRAP){ + self->quat = quat; + self->wrapped = Py_WRAP; + }else if (type == Py_NEW){ + self->quat = PyMem_Malloc(QUAT_SIZE * sizeof(float)); + if(!quat) { //new empty + unit_qt(self->quat); + }else{ + QUATCOPY(self->quat, quat); + } + self->wrapped = Py_NEW; + }else{ //bad type + return NULL; + } + return (PyObject *) self; +} + +PyObject *newQuaternionObject_cb(PyObject *cb_user, int cb_type, int cb_subtype) +{ + QuaternionObject *self= (QuaternionObject *)newQuaternionObject(NULL, 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; +} + |