diff options
Diffstat (limited to 'source/blender/python/mathutils/mathutils_Quaternion.c')
| -rw-r--r-- | source/blender/python/mathutils/mathutils_Quaternion.c | 1186 |
1 files changed, 1186 insertions, 0 deletions
diff --git a/source/blender/python/mathutils/mathutils_Quaternion.c b/source/blender/python/mathutils/mathutils_Quaternion.c new file mode 100644 index 00000000000..2be258a1ef0 --- /dev/null +++ b/source/blender/python/mathutils/mathutils_Quaternion.c @@ -0,0 +1,1186 @@ +/* + * $Id$ + * + * ***** 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 ***** + */ + +/** \file blender/python/generic/mathutils_Quaternion.c + * \ingroup pygen + */ + + +#include <Python.h> + +#include "mathutils.h" + +#include "BLI_math.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_to_tuple_ext(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; +} + +PyDoc_STRVAR(Quaternion_to_euler_doc, +".. method:: to_euler(order, euler_compat)\n" +"\n" +" Return Euler representation of the quaternion.\n" +"\n" +" :arg order: Optional rotation order argument in\n" +" ['XYZ', 'XZY', 'YXZ', 'YZX', 'ZXY', 'ZYX'].\n" +" :type order: string\n" +" :arg euler_compat: Optional euler argument the new euler will be made\n" +" compatible with (no axis flipping between them).\n" +" 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_to_euler(QuaternionObject *self, PyObject *args) +{ + float tquat[4]; + float eul[3]; + 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) == -1) + return NULL; + + if(order_str) { + order= euler_order_from_string(order_str, "Matrix.to_euler()"); + + if(order == -1) + return NULL; + } + + normalize_qt_qt(tquat, self->quat); + + if(eul_compat) { + float mat[3][3]; + + if(BaseMath_ReadCallback(eul_compat) == -1) + return NULL; + + 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, tquat); + else quat_to_eulO(eul, order, tquat); + } + + return newEulerObject(eul, order, Py_NEW, NULL); +} +//----------------------------Quaternion.toMatrix()------------------ +PyDoc_STRVAR(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_to_matrix(QuaternionObject *self) +{ + float mat[9]; /* all values are set */ + + if(BaseMath_ReadCallback(self) == -1) + return NULL; + + quat_to_mat3((float (*)[3])mat, self->quat); + return newMatrixObject(mat, 3, 3, Py_NEW, NULL); +} + +//----------------------------Quaternion.cross(other)------------------ +PyDoc_STRVAR(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, PyObject *value) +{ + float quat[QUAT_SIZE], tquat[QUAT_SIZE]; + + if(BaseMath_ReadCallback(self) == -1) + return NULL; + + 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, tquat); + return newQuaternionObject(quat, Py_NEW, Py_TYPE(self)); +} + +//----------------------------Quaternion.dot(other)------------------ +PyDoc_STRVAR(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, PyObject *value) +{ + float tquat[QUAT_SIZE]; + + if(BaseMath_ReadCallback(self) == -1) + return NULL; + + 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, tquat)); +} + +PyDoc_STRVAR(Quaternion_rotation_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_rotation_difference(QuaternionObject *self, PyObject *value) +{ + float tquat[QUAT_SIZE], quat[QUAT_SIZE]; + + if(BaseMath_ReadCallback(self) == -1) + return NULL; + + 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, tquat); + + return newQuaternionObject(quat, Py_NEW, Py_TYPE(self)); +} + +PyDoc_STRVAR(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) +{ + PyObject *value; + float tquat[QUAT_SIZE], quat[QUAT_SIZE], 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) == -1) + 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) { + PyErr_SetString(PyExc_ValueError, + "quat.slerp(): " + "interpolation factor must be between 0.0 and 1.0"); + return NULL; + } + + interp_qt_qtqt(quat, self->quat, tquat, fac); + + return newQuaternionObject(quat, Py_NEW, Py_TYPE(self)); +} + +PyDoc_STRVAR(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) == -1) + 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); + + 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] +PyDoc_STRVAR(Quaternion_normalize_doc, +".. function:: normalize()\n" +"\n" +" Normalize the quaternion.\n" +); +static PyObject *Quaternion_normalize(QuaternionObject *self) +{ + if(BaseMath_ReadCallback(self) == -1) + return NULL; + + normalize_qt(self->quat); + + (void)BaseMath_WriteCallback(self); + Py_RETURN_NONE; +} +PyDoc_STRVAR(Quaternion_normalized_doc, +".. function:: normalized()\n" +"\n" +" Return a new normalized quaternion.\n" +"\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); +} + +//----------------------------Quaternion.invert()------------------ +PyDoc_STRVAR(Quaternion_invert_doc, +".. function:: invert()\n" +"\n" +" Set the quaternion to its inverse.\n" +); +static PyObject *Quaternion_invert(QuaternionObject *self) +{ + if(BaseMath_ReadCallback(self) == -1) + return NULL; + + invert_qt(self->quat); + + (void)BaseMath_WriteCallback(self); + Py_RETURN_NONE; +} +PyDoc_STRVAR(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()----------------- +PyDoc_STRVAR(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) == -1) + return NULL; + + unit_qt(self->quat); + + (void)BaseMath_WriteCallback(self); + Py_RETURN_NONE; +} +//----------------------------Quaternion.negate()------------------- +PyDoc_STRVAR(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) == -1) + return NULL; + + mul_qt_fl(self->quat, -1.0f); + + (void)BaseMath_WriteCallback(self); + Py_RETURN_NONE; +} +//----------------------------Quaternion.conjugate()---------------- +PyDoc_STRVAR(Quaternion_conjugate_doc, +".. function:: conjugate()\n" +"\n" +" Set the quaternion to its conjugate (negate x, y, z).\n" +); +static PyObject *Quaternion_conjugate(QuaternionObject *self) +{ + if(BaseMath_ReadCallback(self) == -1) + return NULL; + + conjugate_qt(self->quat); + + (void)BaseMath_WriteCallback(self); + Py_RETURN_NONE; +} +PyDoc_STRVAR(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()---------------- +PyDoc_STRVAR(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\n" +" no reference to the original data.\n" +); +static PyObject *Quaternion_copy(QuaternionObject *self) +{ + if(BaseMath_ReadCallback(self) == -1) + 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) == -1) + return NULL; + + tuple= Quaternion_to_tuple_ext(self, -1); + + ret= PyUnicode_FromFormat("Quaternion(%R)", tuple); + + Py_DECREF(tuple); + return ret; +} + +static PyObject* Quaternion_richcmpr(PyObject *a, PyObject *b, int op) +{ + PyObject *res; + int ok= -1; /* zero is true */ + + if (QuaternionObject_Check(a) && QuaternionObject_Check(b)) { + QuaternionObject *quatA= (QuaternionObject *)a; + QuaternionObject *quatB= (QuaternionObject *)b; + + if(BaseMath_ReadCallback(quatA) == -1 || BaseMath_ReadCallback(quatB) == -1) + return NULL; + + ok= (EXPP_VectorsAreEqual(quatA->quat, quatB->quat, QUAT_SIZE, 1)) ? 0 : -1; + } + + 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 *UNUSED(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"); + return NULL; + } + + if(BaseMath_ReadIndexCallback(self, i) == -1) + 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"); + 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"); + return -1; + } + self->quat[i] = scalar; + + if(BaseMath_WriteIndexCallback(self, i) == -1) + return -1; + + return 0; +} +//----------------------------object[z:y]------------------------ +//sequence slice (get) +static PyObject *Quaternion_slice(QuaternionObject *self, int begin, int end) +{ + PyObject *tuple; + int count; + + if(BaseMath_ReadCallback(self) == -1) + return NULL; + + CLAMP(begin, 0, QUAT_SIZE); + if (end<0) end= (QUAT_SIZE + 1) + end; + CLAMP(end, 0, QUAT_SIZE); + begin= MIN2(begin, end); + + tuple= PyTuple_New(end - begin); + for(count= begin; count < end; count++) { + PyTuple_SET_ITEM(tuple, count - begin, PyFloat_FromDouble(self->quat[count])); + } + + return tuple; +} +//----------------------------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) == -1) + 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_ValueError, + "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]; + + (void)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((void *)item, QUAT_SIZE, &start, &stop, &step, &slicelength) < 0) + return NULL; + + if (slicelength <= 0) { + return PyTuple_New(0); + } + else if (step == 1) { + return Quaternion_slice(self, start, stop); + } + else { + PyErr_SetString(PyExc_IndexError, + "slice steps not supported with quaternions"); + return NULL; + } + } + else { + PyErr_Format(PyExc_TypeError, + "quaternion indices must be integers, not %.200s", + Py_TYPE(item)->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((void *)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_IndexError, + "slice steps not supported with quaternion"); + return -1; + } + } + else { + PyErr_Format(PyExc_TypeError, + "quaternion indices must be integers, not %.200s", + Py_TYPE(item)->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_TypeError, + "Quaternion addition: " + "arguments not valid for this operation"); + return NULL; + } + quat1 = (QuaternionObject*)q1; + quat2 = (QuaternionObject*)q2; + + if(BaseMath_ReadCallback(quat1) == -1 || BaseMath_ReadCallback(quat2) == -1) + return NULL; + + add_qt_qtqt(quat, quat1->quat, quat2->quat, 1.0f); + return newQuaternionObject(quat, Py_NEW, Py_TYPE(q1)); +} +//------------------------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_TypeError, + "Quaternion addition: " + "arguments not valid for this operation"); + return NULL; + } + + quat1 = (QuaternionObject*)q1; + quat2 = (QuaternionObject*)q2; + + if(BaseMath_ReadCallback(quat1) == -1 || BaseMath_ReadCallback(quat2) == -1) + return NULL; + + for(x = 0; x < QUAT_SIZE; x++) { + quat[x] = quat1->quat[x] - quat2->quat[x]; + } + + 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) +{ + float quat[QUAT_SIZE], scalar; + QuaternionObject *quat1 = NULL, *quat2 = NULL; + + if(QuaternionObject_Check(q1)) { + quat1 = (QuaternionObject*)q1; + if(BaseMath_ReadCallback(quat1) == -1) + return NULL; + } + if(QuaternionObject_Check(q2)) { + quat2 = (QuaternionObject*)q2; + if(BaseMath_ReadCallback(quat2) == -1) + return NULL; + } + + if(quat1 && quat2) { /* QUAT*QUAT (cross product) */ + mul_qt_qtqt(quat, quat1->quat, quat2->quat); + return newQuaternionObject(quat, Py_NEW, Py_TYPE(q1)); + } + /* the only case this can happen (for a supported type is "FLOAT*QUAT") */ + else if(quat2) { /* FLOAT*QUAT */ + if(((scalar= PyFloat_AsDouble(q1)) == -1.0f && PyErr_Occurred())==0) { + return quat_mul_float(quat2, scalar); + } + } + else if (quat1) { + /* QUAT * VEC */ + if (VectorObject_Check(q2)) { + VectorObject *vec2 = (VectorObject *)q2; + float tvec[3]; + + if(vec2->size != 3) { + PyErr_SetString(PyExc_ValueError, + "Vector multiplication: " + "only 3D vector rotations (with quats) " + "currently supported"); + return NULL; + } + if(BaseMath_ReadCallback(vec2) == -1) { + return NULL; + } + + copy_v3_v3(tvec, vec2->vec); + mul_qt_v3(quat1->quat, tvec); + + return newVectorObject(tvec, 3, Py_NEW, Py_TYPE(vec2)); + } + /* QUAT * FLOAT */ + else if((((scalar= PyFloat_AsDouble(q2)) == -1.0f && PyErr_Occurred())==0)) { + return quat_mul_float(quat1, scalar); + } + } + 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) == -1) + 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 */ + (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*/ + NULL, /*nb_remainder*/ + NULL, /*nb_divmod*/ + NULL, /*nb_power*/ + (unaryfunc) Quaternion_neg, /*nb_negative*/ + (unaryfunc) 0, /*tp_positive*/ + (unaryfunc) 0, /*tp_absolute*/ + (inquiry) 0, /*tp_bool*/ + (unaryfunc) 0, /*nb_invert*/ + NULL, /*nb_lshift*/ + (binaryfunc)0, /*nb_rshift*/ + NULL, /*nb_and*/ + NULL, /*nb_xor*/ + NULL, /*nb_or*/ + NULL, /*nb_int*/ + NULL, /*nb_reserved*/ + NULL, /*nb_float*/ + NULL, /* nb_inplace_add */ + NULL, /* nb_inplace_subtract */ + NULL, /* nb_inplace_multiply */ + NULL, /* nb_inplace_remainder */ + NULL, /* nb_inplace_power */ + NULL, /* nb_inplace_lshift */ + NULL, /* nb_inplace_rshift */ + NULL, /* nb_inplace_and */ + NULL, /* nb_inplace_xor */ + NULL, /* nb_inplace_or */ + NULL, /* nb_floor_divide */ + NULL, /* nb_true_divide */ + NULL, /* nb_inplace_floor_divide */ + NULL, /* nb_inplace_true_divide */ + NULL, /* 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 *UNUSED(closure)) +{ + if(BaseMath_ReadCallback(self) == -1) + return NULL; + + return PyFloat_FromDouble(sqrt(dot_qtqt(self->quat, self->quat))); +} + +static PyObject *Quaternion_getAngle(QuaternionObject *self, void *UNUSED(closure)) +{ + float tquat[4]; + + if(BaseMath_ReadCallback(self) == -1) + return NULL; + + normalize_qt_qt(tquat, self->quat); + return PyFloat_FromDouble(2.0f * (saacos(tquat[0]))); +} + +static int Quaternion_setAngle(QuaternionObject *self, PyObject *value, void *UNUSED(closure)) +{ + float tquat[4]; + float len; + + float axis[3], angle_dummy; + double angle; + + if(BaseMath_ReadCallback(self) == -1) + return -1; + + len= normalize_qt_qt(tquat, self->quat); + quat_to_axis_angle(axis, &angle_dummy, tquat); + + angle= PyFloat_AsDouble(value); + + if(angle==-1.0 && PyErr_Occurred()) { /* parsed item not a number */ + PyErr_SetString(PyExc_TypeError, + "quaternion.angle = value: float expected"); + return -1; + } + + angle= angle_wrap_rad(angle); + + /* 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) && + EXPP_FloatsAreEqual(axis[2], 0.0f, 10) + ) { + axis[0] = 1.0f; + } + + axis_angle_to_quat(self->quat, axis, angle); + mul_qt_fl(self->quat, len); + + if(BaseMath_WriteCallback(self) == -1) + return -1; + + return 0; +} + +static PyObject *Quaternion_getAxisVec(QuaternionObject *self, void *UNUSED(closure)) +{ + float tquat[4]; + + float axis[3]; + float angle; + + if(BaseMath_ReadCallback(self) == -1) + return NULL; + + 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) && + EXPP_FloatsAreEqual(axis[1], 0.0f, 10) && + EXPP_FloatsAreEqual(axis[2], 0.0f, 10) + ) { + axis[0] = 1.0f; + } + + return (PyObject *) newVectorObject(axis, 3, Py_NEW, NULL); +} + +static int Quaternion_setAxisVec(QuaternionObject *self, PyObject *value, void *UNUSED(closure)) +{ + float tquat[4]; + float len; + + float axis[3]; + float angle; + + if(BaseMath_ReadCallback(self) == -1) + return -1; + + len= normalize_qt_qt(tquat, self->quat); + quat_to_axis_angle(axis, &angle, tquat); /* axis value is unused */ + + if (mathutils_array_parse(axis, 3, 3, value, "quat.axis = other") == -1) + return -1; + + axis_angle_to_quat(self->quat, axis, angle); + mul_qt_fl(self->quat, len); + + if(BaseMath_WriteCallback(self) == -1) + return -1; + + return 0; +} + +//----------------------------------mathutils.Quaternion() -------------- +static PyObject *Quaternion_new(PyTypeObject *type, PyObject *args, PyObject *kwds) +{ + PyObject *seq= NULL; + double angle = 0.0f; + float quat[QUAT_SIZE]= {0.0f, 0.0f, 0.0f, 0.0f}; + + 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)) { + 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; + angle= angle_wrap_rad(angle); /* 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, 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[] = { + /* 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}, + {"rotation_difference", (PyCFunction) Quaternion_rotation_difference, METH_O, Quaternion_rotation_difference_doc}, + {"slerp", (PyCFunction) Quaternion_slerp, METH_VARARGS, Quaternion_slerp_doc}, + {"rotate", (PyCFunction) Quaternion_rotate, METH_O, 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} +}; + +/*****************************************************************************/ +/* Python attributes get/set structure: */ +/*****************************************************************************/ +static PyGetSetDef Quaternion_getseters[] = { + {(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-------------------------- +PyDoc_STRVAR(quaternion_doc, +"This object gives access to Quaternions in Blender." +); +PyTypeObject quaternion_Type = { + PyVarObject_HEAD_INIT(NULL, 0) + "mathutils.Quaternion", //tp_name + sizeof(QuaternionObject), //tp_basicsize + 0, //tp_itemsize + (destructor)BaseMathObject_dealloc, //tp_dealloc + NULL, //tp_print + NULL, //tp_getattr + NULL, //tp_setattr + NULL, //tp_compare + (reprfunc) Quaternion_repr, //tp_repr + &Quaternion_NumMethods, //tp_as_number + &Quaternion_SeqMethods, //tp_as_sequence + &Quaternion_AsMapping, //tp_as_mapping + NULL, //tp_hash + NULL, //tp_call + NULL, //tp_str + NULL, //tp_getattro + NULL, //tp_setattro + NULL, //tp_as_buffer + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE | Py_TPFLAGS_HAVE_GC, //tp_flags + quaternion_doc, //tp_doc + (traverseproc)BaseMathObject_traverse, //tp_traverse + (inquiry)BaseMathObject_clear, //tp_clear + (richcmpfunc)Quaternion_richcmpr, //tp_richcompare + 0, //tp_weaklistoffset + NULL, //tp_iter + NULL, //tp_iternext + Quaternion_methods, //tp_methods + NULL, //tp_members + Quaternion_getseters, //tp_getset + NULL, //tp_base + NULL, //tp_dict + NULL, //tp_descr_get + NULL, //tp_descr_set + 0, //tp_dictoffset + NULL, //tp_init + NULL, //tp_alloc + Quaternion_new, //tp_new + NULL, //tp_free + NULL, //tp_is_gc + NULL, //tp_bases + NULL, //tp_mro + NULL, //tp_cache + NULL, //tp_subclasses + NULL, //tp_weaklist + NULL, //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; + + self= base_type ? (QuaternionObject *)base_type->tp_alloc(base_type, 0) : + (QuaternionObject *)PyObject_GC_New(QuaternionObject, &quaternion_Type); + + if(self) { + /* 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 { + Py_FatalError("Quaternion(): invalid type!"); + } + } + 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; + PyObject_GC_Track(self); + } + + return (PyObject *)self; +} + |