From 60ea7456137a019c2ddad75f14b3b6a0892f7b56 Mon Sep 17 00:00:00 2001 From: Brecht Van Lommel Date: Mon, 9 Nov 2009 22:42:41 +0000 Subject: Math Lib Reorganization * New header and source files. * Still need a few tweaks before switching code to use them. --- source/blender/blenlib/BLI_math_rotation.h | 172 +++++++++++++++++++++++++++++ 1 file changed, 172 insertions(+) create mode 100644 source/blender/blenlib/BLI_math_rotation.h (limited to 'source/blender/blenlib/BLI_math_rotation.h') diff --git a/source/blender/blenlib/BLI_math_rotation.h b/source/blender/blenlib/BLI_math_rotation.h new file mode 100644 index 00000000000..b1546e3db6c --- /dev/null +++ b/source/blender/blenlib/BLI_math_rotation.h @@ -0,0 +1,172 @@ +/** + * $Id$ + * + * ***** 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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. + * All rights reserved. + * + * The Original Code is: some of this file. + * + * ***** END GPL LICENSE BLOCK ***** + * */ + +#ifndef BLI_MATH_ROTATION +#define BLI_MATH_ROTATION + +#ifdef __cplusplus +extern "C" { +#endif + +#define RAD2DEG(_rad) ((_rad)*(180.0/M_PI)) +#define DEG2RAD(_deg) ((_deg)*(M_PI/180.0)) + +/******************************** Quaternions ********************************/ +/* stored in (w, x, y, z) order */ + +/* init */ +void unit_qt(float q[4]); +void copy_qt_qt(float q[4], float a[4]); + +/* arithmetic */ +void mul_qt_qtqt(float q[4], float a[4], float b[4]); +void mul_qt_v3(float q[4], float r[3]); // TODO order +void mul_qt_fl(float q[4], float f); +void mul_fac_qt_fl(float q[4], float f); + +void sub_qt_qtqt(float q[4], float a[4], float b[4]); + +void invert_qt(float q[4]); +void conjugate_qt(float q[4]); +float dot_qtqt(float a[4], float b[4]); +void normalize_qt(float q[4]); + +/* comparison */ +int is_zero_qt(float q[4]); + +/* interpolation */ +void interp_qt_qtqt(float q[4], float a[4], float b[4], float t); +void add_qt_qtqt(float q[4], float a[4], float b[4], float t); // TODO name + +/* conversion */ +void quat_to_mat3(float mat[3][3], float q[4]); +void quat_to_mat4(float mat[4][4], float q[4]); + +void mat3_to_quat(float q[4], float mat[3][3]); +void mat4_to_quat(float q[4], float mat[4][4]); +void tri_to_quat(float q[4], float a[3], float b[3], float c[3]); +void vec_to_quat(float q[4], float vec[3], short axis, short upflag); +void rotation_between_vecs_to_quat(float q[4], float v1[3], float v2[3]); + +void Mat3ToQuat_is_ok(float wmat[][3], float *q); // TODO what is this? + +/* other */ +void print_qt(char *str, float q[4]); + +/******************************** Axis Angle *********************************/ + +/* conversion */ +void axis_angle_to_quat(float r[4], float axis[3], float angle); +void axis_angle_to_mat3(float R[3][3], float axis[3], float angle); +void axis_angle_to_mat4(float R[4][4], float axis[3], float angle); + +void quat_to_axis_angle(float axis[3], float *angle, float q[4]); +void mat3_to_axis_angle(float axis[3], float *angle, float M[3][3]); +void mat4_to_axis_angle(float axis[3], float *angle, float M[4][4]); + +/****************************** Vector/Rotation ******************************/ +/* old axis angle code */ +/* TODO: the following calls should probably be depreceated sometime */ + +/* conversion */ +void mat3_to_vec_rot(float vec[3], float *phi, float mat[3][3]); +void mat4_to_vec_rot(float vec[3], float *phi, float mat[4][4]); + +void vec_rot_to_quat(float quat[4], float vec[3], float phi); // TODO +void vec_rot_to_mat3(float mat[3][3], float vec[3], float phi); +void vec_rot_to_mat4(float mat[4][4], float vec[3], float phi); + +/******************************** XYZ Eulers *********************************/ + +void eul_to_quat(float quat[4], float eul[3]); +void eul_to_mat3(float mat[3][3], float eul[3]); +void eul_to_mat4(float mat[4][4], float eul[3]); + +void quat_to_eul(float eul[3], float quat[4]); +void mat3_to_eul(float eul[3], float mat[3][3]); +void mat4_to_eul(float eul[3], float mat[4][4]); + +void compatible_eul(float eul[3], float old[3]); +void mat3_to_compatible_eul(float eul[3], float old[3], float mat[3][3]); + +void rotate_eul(float eul[3], char axis, float angle); + +/************************** Arbitrary Order Eulers ***************************/ + +/* warning: must match the eRotationModes in DNA_action_types.h + * order matters - types are saved to file. */ + +typedef enum eEulerRotationOrders { + EULER_ORDER_DEFAULT = 1, /* blender classic = XYZ */ + EULER_ORDER_XYZ = 1, + EULER_ORDER_XZY, + EULER_ORDER_YXZ, + EULER_ORDER_YZX, + EULER_ORDER_ZXY, + EULER_ORDER_ZYX, + /* there are 6 more entries with dulpicate entries included */ +} eEulerRotationOrders; + +void eulO_to_quat(float quat[4], float eul[3], short order); +void eulO_to_mat3(float mat[3][3], float eul[3], short order); +void eulO_to_mat4(float mat[4][4], float eul[3], short order); +void eulO_to_axis_angle(float axis[3], float *angle, float eul[3], short order); +void eulO_to_gimbal_axis(float gmat[3][3], float eul[3], short order); + +void quat_to_eulO(float eul[3], short order, float quat[4]); +void mat3_to_eulO(float eul[3], short order, float mat[3][3]); +void mat4_to_eulO(float eul[3], short order, float mat[4][4]); +void axis_angle_to_eulO(float eul[3], short order, float axis[3], float angle); + +void mat3_to_compatible_eulO(float eul[3], float old[3], short order, float mat[3][3]); + +void rotate_eulO(float eul[3], short order, char axis, float angle); + +/******************************* Dual Quaternions ****************************/ + +typedef struct DualQuat { + float quat[4]; + float trans[4]; + + float scale[4][4]; + float scale_weight; +} DualQuat; + +void copy_dq_dq(DualQuat *r, DualQuat *dq); +void normalize_dq(DualQuat *dq, float totw); +void add_weighted_dq_dq(DualQuat *r, DualQuat *dq, float weight); +void mul_v3m3_dq(float r[3], float R[3][3], DualQuat *dq); + +void mat4_to_dquat(DualQuat *r, float base[4][4], float M[4][4]); +void dquat_to_mat4(float R[4][4], DualQuat *dq); + +#ifdef __cplusplus +} +#endif + +#endif /* BLI_MATH_ROTATION */ + -- cgit v1.2.3