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Update comment, noting why this is kept.
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Making the callers responsible for this isn't practical as matrices are
often passed indirectly to a functions such as mat3_to_axis_angle,
BKE_object_mat3_to_rot & BKE_pchan_mat3_to_rot.
Or the matrix is combined from other matrices which could be negative.
Given quaternions calculated from negative matrices are completely
invalid and checking only needs to negate matrices with a negative
determinant, move the check into mat3_to_quat and related functions.
Add mat3_normalized_to_quat_fast for cases no error checking on the
input matrix is needed such as blending rotations.
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Mostly update the declarations, in some cases rename in the function
especially when the names used were inconstant with related functions.
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Contributed by luzpaz.
Differential Revision: https://developer.blender.org/D15588
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When plotting equally distant points around a circle support an extra
axis of symmetry so twice as many exact values are repeated than
originally added in [0], see code-comments for a detailed explanation.
Tests to ensure accuracy and exact symmetry have been added too.
Follow up on fix for T87779.
[0]: 087f27a52f7857887e90754d87a7a73715ebc3fb
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Add sin_cos_from_fraction which ensures each quadrant has matching
values when their sign is flipped.
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Issue introduced by rBeef98e66cf9e
BLI_math_rotation.h uses M_PI which
gets defined inside BLI_math_base.h
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Use a shorter/simpler license convention, stops the header taking so
much space.
Follow the SPDX license specification: https://spdx.org/licenses
- C/C++/objc/objc++
- Python
- Shell Scripts
- CMake, GNUmakefile
While most of the source tree has been included
- `./extern/` was left out.
- `./intern/cycles` & `./intern/atomic` are also excluded because they
use different header conventions.
doc/license/SPDX-license-identifiers.txt has been added to list SPDX all
used identifiers.
See P2788 for the script that automated these edits.
Reviewed By: brecht, mont29, sergey
Ref D14069
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This is almost always meaningless as most code has changed
since the comment was added. Besides this, version control can be used
to check if/when a file was modified.
Some cases of this were kept when they contain details
about the original copyright holder.
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MSVC used to warn about const mismatch for arguments passed by value.
Remove these as newer versions of MSVC no longer show this warning.
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Differentiate doc-strings from title/section text.
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Renamed or removed parameters which no longer exist.
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Also add groups in some files.
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- Added space below non doc-string comments to make it clear
these aren't comments for the symbols directly below them.
- Use doxy sections for some headers.
- Minor improvements to doc-strings.
Ref T92709
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Also use doxy style function reference `#` prefix chars when
referencing identifiers.
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Quaternion correction was not implemented and Euler values were being
incorrectly combined.
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Comment blocks not conforming to convention.
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No functional changes
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This replaces header include guards with `#pragma once`.
A couple of include guards are not removed yet (e.g. `__RNA_TYPES_H__`),
because they are used in other places.
This patch has been generated by P1561 followed by `make format`.
Differential Revision: https://developer.blender.org/D8466
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In order to correctly drive corrective shape keys from a freely
rotating organic joint it is very often found necessary to
decompose the rotation into separate bending and twisting
motions. This type of decomposition cannot be reproduced by
any Euler order or a single quaternion.
Instead this is done by using a helper bone with a Damped Track
constraint aimed at the tail of the control to pick up the bending,
and its helper child with Copy Transforms to separate the twist.
Requiring two additional bones to drive a shape key or a correction
bone seems inconvenient, so this implements the necessary math as new
options in the recently introduced Rotation Mode dropdown of the
Transform Channel driver variable type. The data is also accessible
as a Transformation constraint input.
The output is in the form of Quaternion-derived 'pseudo-angles',
which for `Swing and Y Twist` would represent the following:
* W: true bend angle, independent of bend direction.
* Y: true twist angle.
* X, Z: pseudo-angles representing the proportion of bending around X/Z.
Reviewers: brecht
Differential Revision: https://developer.blender.org/D5651
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Now that B-Bone shape data is kept in bPoseChannel_Runtime, the
armature level cache only holds one quaternion value per bone.
It can also be moved to runtime, and the structure removed.
This has an additional effect that, as far as I can tell, now
the Armature modifier can run as soon as all of the bones it
actually needs are done, thus making T59848 a purely depsgraph
level problem.
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Apply clang format as proposed in T53211.
For details on usage and instructions for migrating branches
without conflicts, see:
https://wiki.blender.org/wiki/Tools/ClangFormat
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While \file doesn't need an argument, it can't have another doxy
command after it.
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Move \ingroup onto same line to be more compact and
make it clear the file is in the group.
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BF-admins agree to remove header information that isn't useful,
to reduce noise.
- BEGIN/END license blocks
Developers should add non license comments as separate comment blocks.
No need for separator text.
- Contributors
This is often invalid, outdated or misleading
especially when splitting files.
It's more useful to git-blame to find out who has developed the code.
See P901 for script to perform these edits.
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"angular mult factor" is a completely unintelligible description
for a function that raises a unit quaternion to the scalar power.
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There was no simple way to get the shortest quaternion angle.
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Single axis version of mat3_from_axis_conversion,
when the second axis isn't important (orienting an arrow for eg).
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- Remove 'rotate_m2', unlike 'rotate_m4' it created a new matrix
duplicating 'angle_to_mat2' - now used instead.
(better avoid matching functions having different behavior).
- Add 'axis_angle_to_mat4_single',
convenience wrapper for 'axis_angle_to_mat3_single'.
- Replace 'unit_m4(), rotate_m4()' with a single call to 'axis_angle_to_mat4_single'.
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Many uses of matrices for rotation keep them normalized,
so no need to normalize each time.
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When the quat is known to be unit length, so we can avoid scaling
(just conjugate_qt which asserts on non unit quats).
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Useful to avoid defining a vector for an axis-aligned rotation.
Matches axis_angle_to_mat3_single behavior.
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Added conversion to and from exponential map representation. This
representation is useful for interpolation of > 2 quaternions, or in
PD controllers.
Implementation in C functions quat_to_expmap,
quat_normalized_to_expmap, and expmap_to_quat with Python API, unit
tests and documentation.
Added Quaternion.to_exponential_map() and Quaternion(3-vector) to
Python API.
Reviewers: campbellbarton
Projects: #bf_blender
Differential Revision: https://developer.blender.org/D1049
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Use axis/angle calculation but avoid calls to sin/cos
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- behaves like rotation_between_vecs_to_quat
- avoids calling sin,cos calls (approx 1.6x faster).
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this matches closer to convention from existing functions - angle_v3v3() angle_normalized_v3v3().
also added assert to ensure argument given to axis_angle_normalized_to_mat3() is in fact normalized.
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