diff options
Diffstat (limited to 'source/blender/python/mathutils/mathutils_Quaternion.c')
| -rw-r--r-- | source/blender/python/mathutils/mathutils_Quaternion.c | 2382 |
1 files changed, 1200 insertions, 1182 deletions
diff --git a/source/blender/python/mathutils/mathutils_Quaternion.c b/source/blender/python/mathutils/mathutils_Quaternion.c index 422a1ff28fa..86da4511a2e 100644 --- a/source/blender/python/mathutils/mathutils_Quaternion.c +++ b/source/blender/python/mathutils/mathutils_Quaternion.c @@ -18,7 +18,6 @@ * \ingroup pymathutils */ - #include <Python.h> #include "mathutils.h" @@ -36,7 +35,7 @@ #define QUAT_SIZE 4 static PyObject *quat__apply_to_copy(PyNoArgsFunction quat_func, QuaternionObject *self); -static void quat__axis_angle_sanitize(float axis[3], float *angle); +static void quat__axis_angle_sanitize(float axis[3], float *angle); static PyObject *Quaternion_copy(QuaternionObject *self); static PyObject *Quaternion_deepcopy(QuaternionObject *self, PyObject *args); @@ -45,569 +44,556 @@ static PyObject *Quaternion_deepcopy(QuaternionObject *self, PyObject *args); /* 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; + 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" -); + ".. 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) { - if (BaseMath_ReadCallback(eul_compat) == -1) { - return NULL; - } - - if (order == EULER_ORDER_XYZ) { - quat_to_compatible_eul(eul, eul_compat->eul, tquat); - } - else { - quat_to_compatible_eulO(eul, eul_compat->eul, order, tquat); - } - } - else { - if (order == EULER_ORDER_XYZ) { - quat_to_eul(eul, tquat); - } - else { - quat_to_eulO(eul, order, tquat); - } - } - - return Euler_CreatePyObject(eul, order, NULL); + 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) { + if (BaseMath_ReadCallback(eul_compat) == -1) { + return NULL; + } + + if (order == EULER_ORDER_XYZ) { + quat_to_compatible_eul(eul, eul_compat->eul, tquat); + } + else { + quat_to_compatible_eulO(eul, eul_compat->eul, order, tquat); + } + } + else { + if (order == EULER_ORDER_XYZ) { + quat_to_eul(eul, tquat); + } + else { + quat_to_eulO(eul, order, tquat); + } + } + + return Euler_CreatePyObject(eul, order, NULL); } 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" -); + ".. 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 */ + float mat[9]; /* all values are set */ - if (BaseMath_ReadCallback(self) == -1) { - return NULL; - } + if (BaseMath_ReadCallback(self) == -1) { + return NULL; + } - quat_to_mat3((float (*)[3])mat, self->quat); - return Matrix_CreatePyObject(mat, 3, 3, NULL); + quat_to_mat3((float(*)[3])mat, self->quat); + return Matrix_CreatePyObject(mat, 3, 3, NULL); } PyDoc_STRVAR(Quaternion_to_axis_angle_doc, -".. method:: to_axis_angle()\n" -"\n" -" Return the axis, angle representation of the quaternion.\n" -"\n" -" :return: axis, angle.\n" -" :rtype: (:class:`Vector`, float) pair\n" -); + ".. method:: to_axis_angle()\n" + "\n" + " Return the axis, angle representation of the quaternion.\n" + "\n" + " :return: axis, angle.\n" + " :rtype: (:class:`Vector`, float) pair\n"); static PyObject *Quaternion_to_axis_angle(QuaternionObject *self) { - PyObject *ret; + PyObject *ret; - float tquat[4]; + float tquat[4]; - float axis[3]; - float angle; + float axis[3]; + float angle; - if (BaseMath_ReadCallback(self) == -1) { - return NULL; - } + if (BaseMath_ReadCallback(self) == -1) { + return NULL; + } - normalize_qt_qt(tquat, self->quat); - quat_to_axis_angle(axis, &angle, tquat); + normalize_qt_qt(tquat, self->quat); + quat_to_axis_angle(axis, &angle, tquat); - quat__axis_angle_sanitize(axis, &angle); + quat__axis_angle_sanitize(axis, &angle); - ret = PyTuple_New(2); - PyTuple_SET_ITEMS(ret, - Vector_CreatePyObject(axis, 3, NULL), - PyFloat_FromDouble(angle)); - return ret; + ret = PyTuple_New(2); + PyTuple_SET_ITEMS(ret, Vector_CreatePyObject(axis, 3, NULL), PyFloat_FromDouble(angle)); + return ret; } -PyDoc_STRVAR(Quaternion_to_exponential_map_doc, -".. method:: to_exponential_map()\n" -"\n" -" Return the exponential map representation of the quaternion.\n" -"\n" -" This representation consist of the rotation axis multiplied by the rotation angle." -" Such a representation is useful for interpolation between multiple orientations.\n" -"\n" -" :return: exponential map.\n" -" :rtype: :class:`Vector` of size 3\n" -"\n" -" To convert back to a quaternion, pass it to the :class:`Quaternion` constructor.\n" -); +PyDoc_STRVAR( + Quaternion_to_exponential_map_doc, + ".. method:: to_exponential_map()\n" + "\n" + " Return the exponential map representation of the quaternion.\n" + "\n" + " This representation consist of the rotation axis multiplied by the rotation angle." + " Such a representation is useful for interpolation between multiple orientations.\n" + "\n" + " :return: exponential map.\n" + " :rtype: :class:`Vector` of size 3\n" + "\n" + " To convert back to a quaternion, pass it to the :class:`Quaternion` constructor.\n"); static PyObject *Quaternion_to_exponential_map(QuaternionObject *self) { - float expmap[3]; + float expmap[3]; - if (BaseMath_ReadCallback(self) == -1) { - return NULL; - } + if (BaseMath_ReadCallback(self) == -1) { + return NULL; + } - quat_to_expmap(expmap, self->quat); - return Vector_CreatePyObject(expmap, 3, NULL); + quat_to_expmap(expmap, self->quat); + return Vector_CreatePyObject(expmap, 3, NULL); } 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" -); + ".. 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]; + float quat[QUAT_SIZE], tquat[QUAT_SIZE]; - if (BaseMath_ReadCallback(self) == -1) { - return NULL; - } + 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; - } + 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 Quaternion_CreatePyObject(quat, Py_TYPE(self)); + mul_qt_qtqt(quat, self->quat, tquat); + return Quaternion_CreatePyObject(quat, Py_TYPE(self)); } 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" -); + ".. 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]; + float tquat[QUAT_SIZE]; - if (BaseMath_ReadCallback(self) == -1) { - return NULL; - } + 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; - } + 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)); + return PyFloat_FromDouble(dot_qtqt(self->quat, tquat)); } PyDoc_STRVAR(Quaternion_rotation_difference_doc, -".. function:: rotation_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" -); + ".. function:: rotation_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]; + float tquat[QUAT_SIZE], quat[QUAT_SIZE]; - if (BaseMath_ReadCallback(self) == -1) { - return NULL; - } + 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; - } + 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); + rotation_between_quats_to_quat(quat, self->quat, tquat); - return Quaternion_CreatePyObject(quat, Py_TYPE(self)); + return Quaternion_CreatePyObject(quat, 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" -); + ".. 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 Quaternion_CreatePyObject(quat, Py_TYPE(self)); + 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 Quaternion_CreatePyObject(quat, Py_TYPE(self)); } PyDoc_STRVAR(Quaternion_rotate_doc, -".. method:: rotate(other)\n" -"\n" -" Rotates the quaternion by another mathutils value.\n" -"\n" -" :arg other: rotation component of mathutils value\n" -" :type other: :class:`Euler`, :class:`Quaternion` or :class:`Matrix`\n" -); + ".. method:: rotate(other)\n" + "\n" + " Rotates the quaternion 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; + float self_rmat[3][3], other_rmat[3][3], rmat[3][3]; + float tquat[4], length; - if (BaseMath_ReadCallback_ForWrite(self) == -1) { - return NULL; - } + if (BaseMath_ReadCallback_ForWrite(self) == -1) { + return NULL; + } - if (mathutils_any_to_rotmat(other_rmat, value, "Quaternion.rotate(value)") == -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, other_rmat, self_rmat); + length = normalize_qt_qt(tquat, self->quat); + quat_to_mat3(self_rmat, tquat); + mul_m3_m3m3(rmat, other_rmat, self_rmat); - mat3_to_quat(self->quat, rmat); - mul_qt_fl(self->quat, length); /* maintain length after rotating */ + mat3_to_quat(self->quat, rmat); + mul_qt_fl(self->quat, length); /* maintain length after rotating */ - (void)BaseMath_WriteCallback(self); - Py_RETURN_NONE; + (void)BaseMath_WriteCallback(self); + Py_RETURN_NONE; } /* ----------------------------Quaternion.normalize()---------------- */ /* Normalize the quaternion. This may change the angle as well as the * rotation axis, as all of (w, x, y, z) are scaled. */ PyDoc_STRVAR(Quaternion_normalize_doc, -".. function:: normalize()\n" -"\n" -" Normalize the quaternion.\n" -); + ".. function:: normalize()\n" + "\n" + " Normalize the quaternion.\n"); static PyObject *Quaternion_normalize(QuaternionObject *self) { - if (BaseMath_ReadCallback_ForWrite(self) == -1) { - return NULL; - } + if (BaseMath_ReadCallback_ForWrite(self) == -1) { + return NULL; + } - normalize_qt(self->quat); + normalize_qt(self->quat); - (void)BaseMath_WriteCallback(self); - Py_RETURN_NONE; + (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" -); + ".. 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); + return quat__apply_to_copy((PyNoArgsFunction)Quaternion_normalize, self); } PyDoc_STRVAR(Quaternion_invert_doc, -".. function:: invert()\n" -"\n" -" Set the quaternion to its inverse.\n" -); + ".. function:: invert()\n" + "\n" + " Set the quaternion to its inverse.\n"); static PyObject *Quaternion_invert(QuaternionObject *self) { - if (BaseMath_ReadCallback_ForWrite(self) == -1) { - return NULL; - } + if (BaseMath_ReadCallback_ForWrite(self) == -1) { + return NULL; + } - invert_qt(self->quat); + invert_qt(self->quat); - (void)BaseMath_WriteCallback(self); - Py_RETURN_NONE; + (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" -); + ".. 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); + return quat__apply_to_copy((PyNoArgsFunction)Quaternion_invert, self); } PyDoc_STRVAR(Quaternion_identity_doc, -".. function:: identity()\n" -"\n" -" Set the quaternion to an identity quaternion.\n" -"\n" -" :rtype: :class:`Quaternion`\n" -); + ".. function:: identity()\n" + "\n" + " Set the quaternion to an identity quaternion.\n" + "\n" + " :rtype: :class:`Quaternion`\n"); static PyObject *Quaternion_identity(QuaternionObject *self) { - if (BaseMath_ReadCallback_ForWrite(self) == -1) { - return NULL; - } + if (BaseMath_ReadCallback_ForWrite(self) == -1) { + return NULL; + } - unit_qt(self->quat); + unit_qt(self->quat); - (void)BaseMath_WriteCallback(self); - Py_RETURN_NONE; + (void)BaseMath_WriteCallback(self); + Py_RETURN_NONE; } PyDoc_STRVAR(Quaternion_negate_doc, -".. function:: negate()\n" -"\n" -" Set the quaternion to its negative.\n" -"\n" -" :rtype: :class:`Quaternion`\n" -); + ".. function:: negate()\n" + "\n" + " Set the quaternion to its negative.\n" + "\n" + " :rtype: :class:`Quaternion`\n"); static PyObject *Quaternion_negate(QuaternionObject *self) { - if (BaseMath_ReadCallback_ForWrite(self) == -1) { - return NULL; - } + if (BaseMath_ReadCallback_ForWrite(self) == -1) { + return NULL; + } - mul_qt_fl(self->quat, -1.0f); + mul_qt_fl(self->quat, -1.0f); - (void)BaseMath_WriteCallback(self); - Py_RETURN_NONE; + (void)BaseMath_WriteCallback(self); + Py_RETURN_NONE; } PyDoc_STRVAR(Quaternion_conjugate_doc, -".. function:: conjugate()\n" -"\n" -" Set the quaternion to its conjugate (negate x, y, z).\n" -); + ".. function:: conjugate()\n" + "\n" + " Set the quaternion to its conjugate (negate x, y, z).\n"); static PyObject *Quaternion_conjugate(QuaternionObject *self) { - if (BaseMath_ReadCallback_ForWrite(self) == -1) { - return NULL; - } + if (BaseMath_ReadCallback_ForWrite(self) == -1) { + return NULL; + } - conjugate_qt(self->quat); + conjugate_qt(self->quat); - (void)BaseMath_WriteCallback(self); - Py_RETURN_NONE; + (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" -); + ".. 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); + return quat__apply_to_copy((PyNoArgsFunction)Quaternion_conjugate, self); } 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" -); + ".. 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; - } + if (BaseMath_ReadCallback(self) == -1) { + return NULL; + } - return Quaternion_CreatePyObject(self->quat, Py_TYPE(self)); + return Quaternion_CreatePyObject(self->quat, Py_TYPE(self)); } static PyObject *Quaternion_deepcopy(QuaternionObject *self, PyObject *args) { - if (!PyC_CheckArgs_DeepCopy(args)) { - return NULL; - } - return Quaternion_copy(self); + if (!PyC_CheckArgs_DeepCopy(args)) { + return NULL; + } + return Quaternion_copy(self); } /* print the object to screen */ static PyObject *Quaternion_repr(QuaternionObject *self) { - PyObject *ret, *tuple; + PyObject *ret, *tuple; - if (BaseMath_ReadCallback(self) == -1) { - return NULL; - } + if (BaseMath_ReadCallback(self) == -1) { + return NULL; + } - tuple = Quaternion_to_tuple_ext(self, -1); + tuple = Quaternion_to_tuple_ext(self, -1); - ret = PyUnicode_FromFormat("Quaternion(%R)", tuple); + ret = PyUnicode_FromFormat("Quaternion(%R)", tuple); - Py_DECREF(tuple); - return ret; + Py_DECREF(tuple); + return ret; } #ifndef MATH_STANDALONE static PyObject *Quaternion_str(QuaternionObject *self) { - DynStr *ds; + DynStr *ds; - if (BaseMath_ReadCallback(self) == -1) { - return NULL; - } + if (BaseMath_ReadCallback(self) == -1) { + return NULL; + } - ds = BLI_dynstr_new(); + ds = BLI_dynstr_new(); - BLI_dynstr_appendf(ds, "<Quaternion (w=%.4f, x=%.4f, y=%.4f, z=%.4f)>", - self->quat[0], self->quat[1], self->quat[2], self->quat[3]); + BLI_dynstr_appendf(ds, + "<Quaternion (w=%.4f, x=%.4f, y=%.4f, z=%.4f)>", + self->quat[0], + self->quat[1], + self->quat[2], + self->quat[3]); - return mathutils_dynstr_to_py(ds); /* frees ds */ + return mathutils_dynstr_to_py(ds); /* frees ds */ } #endif 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; - ATTR_FALLTHROUGH; - 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_RET(res); + 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; + ATTR_FALLTHROUGH; + 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_RET(res); } static Py_hash_t Quaternion_hash(QuaternionObject *self) { - if (BaseMath_ReadCallback(self) == -1) { - return -1; - } + if (BaseMath_ReadCallback(self) == -1) { + return -1; + } - if (BaseMathObject_Prepare_ForHash(self) == -1) { - return -1; - } + if (BaseMathObject_Prepare_ForHash(self) == -1) { + return -1; + } - return mathutils_array_hash(self->quat, QUAT_SIZE); + return mathutils_array_hash(self->quat, QUAT_SIZE); } /* ---------------------SEQUENCE PROTOCOLS------------------------ */ @@ -615,206 +601,202 @@ static Py_hash_t Quaternion_hash(QuaternionObject *self) /* sequence length */ static int Quaternion_len(QuaternionObject *UNUSED(self)) { - return QUAT_SIZE; + 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]); - + 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 f; - - if (BaseMath_Prepare_ForWrite(self) == -1) { - return -1; - } - - f = (float)PyFloat_AsDouble(ob); - - if (f == -1.0f && PyErr_Occurred()) { /* parsed item not a number */ - PyErr_SetString(PyExc_TypeError, - "quaternion[index] = x: " - "assigned value 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] = f; - - if (BaseMath_WriteIndexCallback(self, i) == -1) { - return -1; - } - - return 0; + float f; + + if (BaseMath_Prepare_ForWrite(self) == -1) { + return -1; + } + + f = (float)PyFloat_AsDouble(ob); + + if (f == -1.0f && PyErr_Occurred()) { /* parsed item not a number */ + PyErr_SetString(PyExc_TypeError, + "quaternion[index] = x: " + "assigned value 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] = f; + + 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; + 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_ForWrite(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; + int i, size; + float quat[QUAT_SIZE]; + + if (BaseMath_ReadCallback_ForWrite(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(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; - } + 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(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(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; - } + 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(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---------------------- */ @@ -822,757 +804,793 @@ static int Quaternion_ass_subscript(QuaternionObject *self, PyObject *item, PyOb /* 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_Format(PyExc_TypeError, - "Quaternion addition: (%s + %s) " - "invalid type for this operation", - Py_TYPE(q1)->tp_name, Py_TYPE(q2)->tp_name); - 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 Quaternion_CreatePyObject(quat, Py_TYPE(q1)); + float quat[QUAT_SIZE]; + QuaternionObject *quat1 = NULL, *quat2 = NULL; + + if (!QuaternionObject_Check(q1) || !QuaternionObject_Check(q2)) { + PyErr_Format(PyExc_TypeError, + "Quaternion addition: (%s + %s) " + "invalid type for this operation", + Py_TYPE(q1)->tp_name, + Py_TYPE(q2)->tp_name); + 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 Quaternion_CreatePyObject(quat, 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_Format(PyExc_TypeError, - "Quaternion subtraction: (%s - %s) " - "invalid type for this operation", - Py_TYPE(q1)->tp_name, Py_TYPE(q2)->tp_name); - 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 Quaternion_CreatePyObject(quat, Py_TYPE(q1)); + int x; + float quat[QUAT_SIZE]; + QuaternionObject *quat1 = NULL, *quat2 = NULL; + + if (!QuaternionObject_Check(q1) || !QuaternionObject_Check(q2)) { + PyErr_Format(PyExc_TypeError, + "Quaternion subtraction: (%s - %s) " + "invalid type for this operation", + Py_TYPE(q1)->tp_name, + Py_TYPE(q2)->tp_name); + 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 Quaternion_CreatePyObject(quat, 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 Quaternion_CreatePyObject(tquat, Py_TYPE(quat)); + float tquat[4]; + copy_qt_qt(tquat, quat->quat); + mul_qt_fl(tquat, scalar); + return Quaternion_CreatePyObject(tquat, Py_TYPE(quat)); } /*------------------------obj * obj------------------------------ * multiplication */ static PyObject *Quaternion_mul(PyObject *q1, PyObject *q2) { - float 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 (element-wise product) */ + float 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 (element-wise product) */ #ifdef USE_MATHUTILS_ELEM_MUL - float quat[QUAT_SIZE]; - mul_vn_vnvn(quat, quat1->quat, quat2->quat, QUAT_SIZE); - return Quaternion_CreatePyObject(quat, Py_TYPE(q1)); + float quat[QUAT_SIZE]; + mul_vn_vnvn(quat, quat1->quat, quat2->quat, QUAT_SIZE); + return Quaternion_CreatePyObject(quat, Py_TYPE(q1)); #endif - } - /* 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 * FLOAT */ - if ((((scalar = PyFloat_AsDouble(q2)) == -1.0f && PyErr_Occurred()) == 0)) { - return quat_mul_float(quat1, scalar); - } - } - - PyErr_Format(PyExc_TypeError, - "Element-wise multiplication: " - "not supported between '%.200s' and '%.200s' types", - Py_TYPE(q1)->tp_name, Py_TYPE(q2)->tp_name); - return NULL; + } + /* 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 * FLOAT */ + if ((((scalar = PyFloat_AsDouble(q2)) == -1.0f && PyErr_Occurred()) == 0)) { + return quat_mul_float(quat1, scalar); + } + } + + PyErr_Format(PyExc_TypeError, + "Element-wise multiplication: " + "not supported between '%.200s' and '%.200s' types", + Py_TYPE(q1)->tp_name, + Py_TYPE(q2)->tp_name); + return NULL; } /*------------------------obj *= obj------------------------------ * inplace multiplication */ static PyObject *Quaternion_imul(PyObject *q1, PyObject *q2) { - float 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 (inplace element-wise product) */ + float 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 (inplace element-wise product) */ #ifdef USE_MATHUTILS_ELEM_MUL - mul_vn_vn(quat1->quat, quat2->quat, QUAT_SIZE); + mul_vn_vn(quat1->quat, quat2->quat, QUAT_SIZE); #else - PyErr_Format(PyExc_TypeError, - "Inplace element-wise multiplication: " - "not supported between '%.200s' and '%.200s' types", - Py_TYPE(q1)->tp_name, Py_TYPE(q2)->tp_name); - return NULL; + PyErr_Format(PyExc_TypeError, + "Inplace element-wise multiplication: " + "not supported between '%.200s' and '%.200s' types", + Py_TYPE(q1)->tp_name, + Py_TYPE(q2)->tp_name); + return NULL; #endif - } - else if (quat1 && (((scalar = PyFloat_AsDouble(q2)) == -1.0f && PyErr_Occurred()) == 0)) { - /* QUAT *= FLOAT */ - mul_qt_fl(quat1->quat, scalar); - } - else { - PyErr_Format(PyExc_TypeError, - "Element-wise multiplication: " - "not supported between '%.200s' and '%.200s' types", - Py_TYPE(q1)->tp_name, Py_TYPE(q2)->tp_name); - return NULL; - } - - (void)BaseMath_WriteCallback(quat1); - Py_INCREF(q1); - return q1; + } + else if (quat1 && (((scalar = PyFloat_AsDouble(q2)) == -1.0f && PyErr_Occurred()) == 0)) { + /* QUAT *= FLOAT */ + mul_qt_fl(quat1->quat, scalar); + } + else { + PyErr_Format(PyExc_TypeError, + "Element-wise multiplication: " + "not supported between '%.200s' and '%.200s' types", + Py_TYPE(q1)->tp_name, + Py_TYPE(q2)->tp_name); + return NULL; + } + + (void)BaseMath_WriteCallback(quat1); + Py_INCREF(q1); + return q1; } /*------------------------obj @ obj------------------------------ * quaternion multiplication */ static PyObject *Quaternion_matmul(PyObject *q1, PyObject *q2) { - float quat[QUAT_SIZE]; - 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 Quaternion_CreatePyObject(quat, Py_TYPE(q1)); - } - 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 Vector_CreatePyObject(tvec, 3, Py_TYPE(vec2)); - } - } - - 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; + float quat[QUAT_SIZE]; + 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 Quaternion_CreatePyObject(quat, Py_TYPE(q1)); + } + 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 Vector_CreatePyObject(tvec, 3, Py_TYPE(vec2)); + } + } + + 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 @= obj------------------------------ * inplace quaternion multiplication */ static PyObject *Quaternion_imatmul(PyObject *q1, PyObject *q2) { - float quat[QUAT_SIZE]; - 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); - copy_qt_qt(quat1->quat, quat); - } - else { - PyErr_Format(PyExc_TypeError, - "Inplace quaternion multiplication: " - "not supported between '%.200s' and '%.200s' types", - Py_TYPE(q1)->tp_name, Py_TYPE(q2)->tp_name); - return NULL; - } - - (void)BaseMath_WriteCallback(quat1); - Py_INCREF(q1); - return q1; + float quat[QUAT_SIZE]; + 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); + copy_qt_qt(quat1->quat, quat); + } + else { + PyErr_Format(PyExc_TypeError, + "Inplace quaternion multiplication: " + "not supported between '%.200s' and '%.200s' types", + Py_TYPE(q1)->tp_name, + Py_TYPE(q2)->tp_name); + return NULL; + } + + (void)BaseMath_WriteCallback(quat1); + Py_INCREF(q1); + return q1; } /* -obj * returns the negative of this object*/ static PyObject *Quaternion_neg(QuaternionObject *self) { - float tquat[QUAT_SIZE]; + float tquat[QUAT_SIZE]; - if (BaseMath_ReadCallback(self) == -1) { - return NULL; - } + if (BaseMath_ReadCallback(self) == -1) { + return NULL; + } - negate_v4_v4(tquat, self->quat); - return Quaternion_CreatePyObject(tquat, Py_TYPE(self)); + negate_v4_v4(tquat, self->quat); + return Quaternion_CreatePyObject(tquat, 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 */ + (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, + (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) Quaternion_copy,/*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 */ - (binaryfunc) Quaternion_imul, /* 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 */ - (binaryfunc) Quaternion_matmul, /* nb_matrix_multiply */ - (binaryfunc) Quaternion_imatmul, /* nb_inplace_matrix_multiply */ + (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)Quaternion_copy, /*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 */ + (binaryfunc)Quaternion_imul, /* 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 */ + (binaryfunc)Quaternion_matmul, /* nb_matrix_multiply */ + (binaryfunc)Quaternion_imatmul, /* nb_inplace_matrix_multiply */ }; -PyDoc_STRVAR(Quaternion_axis_doc, -"Quaternion axis value.\n\n:type: float" -); +PyDoc_STRVAR(Quaternion_axis_doc, "Quaternion axis value.\n\n:type: float"); static PyObject *Quaternion_axis_get(QuaternionObject *self, void *type) { - return Quaternion_item(self, POINTER_AS_INT(type)); + return Quaternion_item(self, POINTER_AS_INT(type)); } static int Quaternion_axis_set(QuaternionObject *self, PyObject *value, void *type) { - return Quaternion_ass_item(self, POINTER_AS_INT(type), value); + return Quaternion_ass_item(self, POINTER_AS_INT(type), value); } -PyDoc_STRVAR(Quaternion_magnitude_doc, -"Size of the quaternion (read-only).\n\n:type: float" -); +PyDoc_STRVAR(Quaternion_magnitude_doc, "Size of the quaternion (read-only).\n\n:type: float"); static PyObject *Quaternion_magnitude_get(QuaternionObject *self, void *UNUSED(closure)) { - if (BaseMath_ReadCallback(self) == -1) { - return NULL; - } + if (BaseMath_ReadCallback(self) == -1) { + return NULL; + } - return PyFloat_FromDouble(sqrtf(dot_qtqt(self->quat, self->quat))); + return PyFloat_FromDouble(sqrtf(dot_qtqt(self->quat, self->quat))); } -PyDoc_STRVAR(Quaternion_angle_doc, -"Angle of the quaternion.\n\n:type: float" -); +PyDoc_STRVAR(Quaternion_angle_doc, "Angle of the quaternion.\n\n:type: float"); static PyObject *Quaternion_angle_get(QuaternionObject *self, void *UNUSED(closure)) { - float tquat[4]; - float angle; + float tquat[4]; + float angle; - if (BaseMath_ReadCallback(self) == -1) { - return NULL; - } + if (BaseMath_ReadCallback(self) == -1) { + return NULL; + } - normalize_qt_qt(tquat, self->quat); + normalize_qt_qt(tquat, self->quat); - angle = 2.0f * saacos(tquat[0]); + angle = 2.0f * saacos(tquat[0]); - quat__axis_angle_sanitize(NULL, &angle); + quat__axis_angle_sanitize(NULL, &angle); - return PyFloat_FromDouble(angle); + return PyFloat_FromDouble(angle); } static int Quaternion_angle_set(QuaternionObject *self, PyObject *value, void *UNUSED(closure)) { - float tquat[4]; - float len; + float tquat[4]; + float len; - float axis[3], angle_dummy; - float angle; + float axis[3], angle_dummy; + float angle; - if (BaseMath_ReadCallback_ForWrite(self) == -1) { - return -1; - } + if (BaseMath_ReadCallback_ForWrite(self) == -1) { + return -1; + } - len = normalize_qt_qt(tquat, self->quat); - quat_to_axis_angle(axis, &angle_dummy, tquat); + 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; - } + if (angle == -1.0f && PyErr_Occurred()) { /* parsed item not a number */ + PyErr_SetString(PyExc_TypeError, "Quaternion.angle = value: float expected"); + return -1; + } - angle = angle_wrap_rad(angle); + angle = angle_wrap_rad(angle); - quat__axis_angle_sanitize(axis, &angle); + quat__axis_angle_sanitize(axis, &angle); - axis_angle_to_quat(self->quat, axis, angle); - mul_qt_fl(self->quat, len); + axis_angle_to_quat(self->quat, axis, angle); + mul_qt_fl(self->quat, len); - if (BaseMath_WriteCallback(self) == -1) { - return -1; - } + if (BaseMath_WriteCallback(self) == -1) { + return -1; + } - return 0; + return 0; } -PyDoc_STRVAR(Quaternion_axis_vector_doc, -"Quaternion axis as a vector.\n\n:type: :class:`Vector`" -); +PyDoc_STRVAR(Quaternion_axis_vector_doc, "Quaternion axis as a vector.\n\n:type: :class:`Vector`"); static PyObject *Quaternion_axis_vector_get(QuaternionObject *self, void *UNUSED(closure)) { - float tquat[4]; + float tquat[4]; - float axis[3]; - float angle_dummy; + float axis[3]; + float angle_dummy; - if (BaseMath_ReadCallback(self) == -1) { - return NULL; - } + if (BaseMath_ReadCallback(self) == -1) { + return NULL; + } - normalize_qt_qt(tquat, self->quat); - quat_to_axis_angle(axis, &angle_dummy, tquat); + normalize_qt_qt(tquat, self->quat); + quat_to_axis_angle(axis, &angle_dummy, tquat); - quat__axis_angle_sanitize(axis, NULL); + quat__axis_angle_sanitize(axis, NULL); - return Vector_CreatePyObject(axis, 3, NULL); + return Vector_CreatePyObject(axis, 3, NULL); } -static int Quaternion_axis_vector_set(QuaternionObject *self, PyObject *value, void *UNUSED(closure)) +static int Quaternion_axis_vector_set(QuaternionObject *self, + PyObject *value, + void *UNUSED(closure)) { - float tquat[4]; - float len; + float tquat[4]; + float len; - float axis[3]; - float angle; + float axis[3]; + float angle; - if (BaseMath_ReadCallback_ForWrite(self) == -1) { - return -1; - } + if (BaseMath_ReadCallback_ForWrite(self) == -1) { + return -1; + } - len = normalize_qt_qt(tquat, self->quat); - quat_to_axis_angle(axis, &angle, tquat); /* axis value is unused */ + 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; - } + if (mathutils_array_parse(axis, 3, 3, value, "quat.axis = other") == -1) { + return -1; + } - quat__axis_angle_sanitize(axis, &angle); + quat__axis_angle_sanitize(axis, &angle); - axis_angle_to_quat(self->quat, axis, angle); - mul_qt_fl(self->quat, len); + axis_angle_to_quat(self->quat, axis, angle); + mul_qt_fl(self->quat, len); - if (BaseMath_WriteCallback(self) == -1) { - return -1; - } + if (BaseMath_WriteCallback(self) == -1) { + return -1; + } - return 0; + 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]; - unit_qt(quat); - - 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: - { - int size; - - if ((size = mathutils_array_parse(quat, 3, QUAT_SIZE, seq, "mathutils.Quaternion()")) == -1) { - return NULL; - } - - if (size == 4) { - /* 4d: Quaternion (common case) */ - } - else { - /* 3d: Interpret as exponential map */ - BLI_assert(size == 3); - expmap_to_quat(quat, quat); - } - - break; - } - case 2: - { - float axis[3]; - if (mathutils_array_parse(axis, 3, 3, seq, "mathutils.Quaternion()") == -1) { - return NULL; - } - angle = angle_wrap_rad(angle); /* clamp because of precision issues */ - axis_angle_to_quat(quat, axis, angle); - break; - /* PyArg_ParseTuple assures no more than 2 */ - } - } - return Quaternion_CreatePyObject(quat, type); + PyObject *seq = NULL; + double angle = 0.0f; + float quat[QUAT_SIZE]; + unit_qt(quat); + + 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: { + int size; + + if ((size = mathutils_array_parse(quat, 3, QUAT_SIZE, seq, "mathutils.Quaternion()")) == + -1) { + return NULL; + } + + if (size == 4) { + /* 4d: Quaternion (common case) */ + } + else { + /* 3d: Interpret as exponential map */ + BLI_assert(size == 3); + expmap_to_quat(quat, quat); + } + + break; + } + case 2: { + float axis[3]; + if (mathutils_array_parse(axis, 3, 3, seq, "mathutils.Quaternion()") == -1) { + return NULL; + } + angle = angle_wrap_rad(angle); /* clamp because of precision issues */ + axis_angle_to_quat(quat, axis, angle); + break; + /* PyArg_ParseTuple assures no more than 2 */ + } + } + return Quaternion_CreatePyObject(quat, 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 ret; - } - else { /* error */ - Py_DECREF(ret); - return NULL; - } + PyObject *ret = Quaternion_copy(self); + PyObject *ret_dummy = quat_func(ret); + if (ret_dummy) { + Py_DECREF(ret_dummy); + return ret; + } + else { /* error */ + Py_DECREF(ret); + return NULL; + } } /* axis vector suffers from precision errors, use this function to ensure */ static void quat__axis_angle_sanitize(float axis[3], float *angle) { - if (axis) { - if (is_zero_v3(axis) || - !isfinite(axis[0]) || - !isfinite(axis[1]) || - !isfinite(axis[2])) - { - axis[0] = 1.0f; - axis[1] = 0.0f; - axis[2] = 0.0f; - } - else 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; - } - } - - if (angle) { - if (!isfinite(*angle)) { - *angle = 0.0f; - } - } + if (axis) { + if (is_zero_v3(axis) || !isfinite(axis[0]) || !isfinite(axis[1]) || !isfinite(axis[2])) { + axis[0] = 1.0f; + axis[1] = 0.0f; + axis[2] = 0.0f; + } + else 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; + } + } + + if (angle) { + if (!isfinite(*angle)) { + *angle = 0.0f; + } + } } /* -----------------------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}, - {"to_axis_angle", (PyCFunction) Quaternion_to_axis_angle, METH_NOARGS, Quaternion_to_axis_angle_doc}, - {"to_exponential_map", (PyCFunction) Quaternion_to_exponential_map, METH_NOARGS, Quaternion_to_exponential_map_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}, - - /* base-math methods */ - {"freeze", (PyCFunction)BaseMathObject_freeze, METH_NOARGS, BaseMathObject_freeze_doc}, - - {"copy", (PyCFunction) Quaternion_copy, METH_NOARGS, Quaternion_copy_doc}, - {"__copy__", (PyCFunction) Quaternion_copy, METH_NOARGS, Quaternion_copy_doc}, - {"__deepcopy__", (PyCFunction) Quaternion_deepcopy, METH_VARARGS, Quaternion_copy_doc}, - {NULL, NULL, 0, NULL}, + /* 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}, + {"to_axis_angle", + (PyCFunction)Quaternion_to_axis_angle, + METH_NOARGS, + Quaternion_to_axis_angle_doc}, + {"to_exponential_map", + (PyCFunction)Quaternion_to_exponential_map, + METH_NOARGS, + Quaternion_to_exponential_map_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}, + + /* base-math methods */ + {"freeze", (PyCFunction)BaseMathObject_freeze, METH_NOARGS, BaseMathObject_freeze_doc}, + + {"copy", (PyCFunction)Quaternion_copy, METH_NOARGS, Quaternion_copy_doc}, + {"__copy__", (PyCFunction)Quaternion_copy, METH_NOARGS, Quaternion_copy_doc}, + {"__deepcopy__", (PyCFunction)Quaternion_deepcopy, METH_VARARGS, Quaternion_copy_doc}, + {NULL, NULL, 0, NULL}, }; /*****************************************************************************/ /* Python attributes get/set structure: */ /*****************************************************************************/ static PyGetSetDef Quaternion_getseters[] = { - {(char *)"w", (getter)Quaternion_axis_get, (setter)Quaternion_axis_set, Quaternion_axis_doc, (void *)0}, - {(char *)"x", (getter)Quaternion_axis_get, (setter)Quaternion_axis_set, Quaternion_axis_doc, (void *)1}, - {(char *)"y", (getter)Quaternion_axis_get, (setter)Quaternion_axis_set, Quaternion_axis_doc, (void *)2}, - {(char *)"z", (getter)Quaternion_axis_get, (setter)Quaternion_axis_set, Quaternion_axis_doc, (void *)3}, - {(char *)"magnitude", (getter)Quaternion_magnitude_get, (setter)NULL, Quaternion_magnitude_doc, NULL}, - {(char *)"angle", (getter)Quaternion_angle_get, (setter)Quaternion_angle_set, Quaternion_angle_doc, NULL}, - {(char *)"axis", (getter)Quaternion_axis_vector_get, (setter)Quaternion_axis_vector_set, Quaternion_axis_vector_doc, NULL}, - {(char *)"is_wrapped", (getter)BaseMathObject_is_wrapped_get, (setter)NULL, BaseMathObject_is_wrapped_doc, NULL}, - {(char *)"is_frozen", (getter)BaseMathObject_is_frozen_get, (setter)NULL, BaseMathObject_is_frozen_doc, NULL}, - {(char *)"owner", (getter)BaseMathObject_owner_get, (setter)NULL, BaseMathObject_owner_doc, NULL}, - {NULL, NULL, NULL, NULL, NULL} /* Sentinel */ + {(char *)"w", + (getter)Quaternion_axis_get, + (setter)Quaternion_axis_set, + Quaternion_axis_doc, + (void *)0}, + {(char *)"x", + (getter)Quaternion_axis_get, + (setter)Quaternion_axis_set, + Quaternion_axis_doc, + (void *)1}, + {(char *)"y", + (getter)Quaternion_axis_get, + (setter)Quaternion_axis_set, + Quaternion_axis_doc, + (void *)2}, + {(char *)"z", + (getter)Quaternion_axis_get, + (setter)Quaternion_axis_set, + Quaternion_axis_doc, + (void *)3}, + {(char *)"magnitude", + (getter)Quaternion_magnitude_get, + (setter)NULL, + Quaternion_magnitude_doc, + NULL}, + {(char *)"angle", + (getter)Quaternion_angle_get, + (setter)Quaternion_angle_set, + Quaternion_angle_doc, + NULL}, + {(char *)"axis", + (getter)Quaternion_axis_vector_get, + (setter)Quaternion_axis_vector_set, + Quaternion_axis_vector_doc, + NULL}, + {(char *)"is_wrapped", + (getter)BaseMathObject_is_wrapped_get, + (setter)NULL, + BaseMathObject_is_wrapped_doc, + NULL}, + {(char *)"is_frozen", + (getter)BaseMathObject_is_frozen_get, + (setter)NULL, + BaseMathObject_is_frozen_doc, + NULL}, + {(char *)"owner", + (getter)BaseMathObject_owner_get, + (setter)NULL, + BaseMathObject_owner_doc, + NULL}, + {NULL, NULL, NULL, NULL, NULL} /* Sentinel */ }; /* ------------------PY_OBECT DEFINITION-------------------------- */ PyDoc_STRVAR(quaternion_doc, -".. class:: Quaternion([seq, [angle]])\n" -"\n" -" This object gives access to Quaternions in Blender.\n" -"\n" -" :param seq: size 3 or 4\n" -" :type seq: :class:`Vector`\n" -" :param angle: rotation angle, in radians\n" -" :type angle: float\n" -"\n" -" The constructor takes arguments in various forms:\n" -"\n" -" (), *no args*\n" -" Create an identity quaternion\n" -" (*wxyz*)\n" -" Create a quaternion from a ``(w, x, y, z)`` vector.\n" -" (*exponential_map*)\n" -" Create a quaternion from a 3d exponential map vector.\n" -"\n" -" .. seealso:: :meth:`to_exponential_map`\n" -" (*axis, angle*)\n" -" Create a quaternion representing a rotation of *angle* radians over *axis*.\n" -"\n" -" .. seealso:: :meth:`to_axis_angle`\n" -); + ".. class:: Quaternion([seq, [angle]])\n" + "\n" + " This object gives access to Quaternions in Blender.\n" + "\n" + " :param seq: size 3 or 4\n" + " :type seq: :class:`Vector`\n" + " :param angle: rotation angle, in radians\n" + " :type angle: float\n" + "\n" + " The constructor takes arguments in various forms:\n" + "\n" + " (), *no args*\n" + " Create an identity quaternion\n" + " (*wxyz*)\n" + " Create a quaternion from a ``(w, x, y, z)`` vector.\n" + " (*exponential_map*)\n" + " Create a quaternion from a 3d exponential map vector.\n" + "\n" + " .. seealso:: :meth:`to_exponential_map`\n" + " (*axis, angle*)\n" + " Create a quaternion representing a rotation of *angle* radians over *axis*.\n" + "\n" + " .. seealso:: :meth:`to_axis_angle`\n"); PyTypeObject quaternion_Type = { - PyVarObject_HEAD_INIT(NULL, 0) - "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 */ - (hashfunc)Quaternion_hash, /* tp_hash */ - NULL, /* tp_call */ + PyVarObject_HEAD_INIT(NULL, 0) "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 */ + (hashfunc)Quaternion_hash, /* tp_hash */ + NULL, /* tp_call */ #ifndef MATH_STANDALONE - (reprfunc) Quaternion_str, /* tp_str */ + (reprfunc)Quaternion_str, /* tp_str */ #else - NULL, /* tp_str */ + NULL, /* tp_str */ #endif - 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 */ + 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 */ }; -PyObject *Quaternion_CreatePyObject( - const float quat[4], - PyTypeObject *base_type) +PyObject *Quaternion_CreatePyObject(const float quat[4], PyTypeObject *base_type) { - QuaternionObject *self; - float *quat_alloc; - - quat_alloc = PyMem_Malloc(QUAT_SIZE * sizeof(float)); - if (UNLIKELY(quat_alloc == NULL)) { - PyErr_SetString(PyExc_MemoryError, - "Quaternion(): " - "problem allocating data"); - return NULL; - } - - self = BASE_MATH_NEW(QuaternionObject, quaternion_Type, base_type); - if (self) { - self->quat = quat_alloc; - /* init callbacks as NULL */ - self->cb_user = NULL; - self->cb_type = self->cb_subtype = 0; - - /* NEW */ - if (!quat) { /* new empty */ - unit_qt(self->quat); - } - else { - copy_qt_qt(self->quat, quat); - } - self->flag = BASE_MATH_FLAG_DEFAULT; - } - else { - PyMem_Free(quat_alloc); - } - - return (PyObject *)self; + QuaternionObject *self; + float *quat_alloc; + + quat_alloc = PyMem_Malloc(QUAT_SIZE * sizeof(float)); + if (UNLIKELY(quat_alloc == NULL)) { + PyErr_SetString(PyExc_MemoryError, + "Quaternion(): " + "problem allocating data"); + return NULL; + } + + self = BASE_MATH_NEW(QuaternionObject, quaternion_Type, base_type); + if (self) { + self->quat = quat_alloc; + /* init callbacks as NULL */ + self->cb_user = NULL; + self->cb_type = self->cb_subtype = 0; + + /* NEW */ + if (!quat) { /* new empty */ + unit_qt(self->quat); + } + else { + copy_qt_qt(self->quat, quat); + } + self->flag = BASE_MATH_FLAG_DEFAULT; + } + else { + PyMem_Free(quat_alloc); + } + + return (PyObject *)self; } -PyObject *Quaternion_CreatePyObject_wrap( - float quat[4], - PyTypeObject *base_type) +PyObject *Quaternion_CreatePyObject_wrap(float quat[4], PyTypeObject *base_type) { - QuaternionObject *self; - - self = BASE_MATH_NEW(QuaternionObject, quaternion_Type, base_type); - if (self) { - /* init callbacks as NULL */ - self->cb_user = NULL; - self->cb_type = self->cb_subtype = 0; - - /* WRAP */ - self->quat = quat; - self->flag = BASE_MATH_FLAG_DEFAULT | BASE_MATH_FLAG_IS_WRAP; - } - return (PyObject *) self; + QuaternionObject *self; + + self = BASE_MATH_NEW(QuaternionObject, quaternion_Type, base_type); + if (self) { + /* init callbacks as NULL */ + self->cb_user = NULL; + self->cb_type = self->cb_subtype = 0; + + /* WRAP */ + self->quat = quat; + self->flag = BASE_MATH_FLAG_DEFAULT | BASE_MATH_FLAG_IS_WRAP; + } + return (PyObject *)self; } PyObject *Quaternion_CreatePyObject_cb(PyObject *cb_user, - unsigned char cb_type, unsigned char cb_subtype) + unsigned char cb_type, + unsigned char cb_subtype) { - QuaternionObject *self = (QuaternionObject *)Quaternion_CreatePyObject(NULL, NULL); - if (self) { - Py_INCREF(cb_user); - self->cb_user = cb_user; - self->cb_type = cb_type; - self->cb_subtype = cb_subtype; - PyObject_GC_Track(self); - } - - return (PyObject *)self; + QuaternionObject *self = (QuaternionObject *)Quaternion_CreatePyObject(NULL, NULL); + if (self) { + Py_INCREF(cb_user); + self->cb_user = cb_user; + self->cb_type = cb_type; + self->cb_subtype = cb_subtype; + PyObject_GC_Track(self); + } + + return (PyObject *)self; } |