From e83e3b0cf74c7150d2ee047c4a0b84e7b0de8951 Mon Sep 17 00:00:00 2001 From: Sergej Reich Date: Wed, 23 Jan 2013 05:56:05 +0000 Subject: math: Add functions to decompose transformation matrices mat4_decompose() is similar to mat4_to_loc_rot_size() but returns rotation as quaternion. mat4_to_loc_quat() just returns location and rotation without size. --- source/blender/blenlib/intern/math_matrix.c | 27 +++++++++++++++++++++++++++ 1 file changed, 27 insertions(+) (limited to 'source/blender/blenlib/intern/math_matrix.c') diff --git a/source/blender/blenlib/intern/math_matrix.c b/source/blender/blenlib/intern/math_matrix.c index 6784c4145a5..03f8d63024e 100644 --- a/source/blender/blenlib/intern/math_matrix.c +++ b/source/blender/blenlib/intern/math_matrix.c @@ -1212,6 +1212,33 @@ void mat4_to_loc_rot_size(float loc[3], float rot[3][3], float size[3], float wm copy_v3_v3(loc, wmat[3]); } +void mat4_to_loc_quat(float loc[3], float quat[4], float wmat[4][4]) +{ + float mat3[3][3]; + float mat3_n[3][3]; /* normalized mat3 */ + + copy_m3_m4(mat3, wmat); + normalize_m3_m3(mat3_n, mat3); + + /* so scale doesn't interfere with rotation [#24291] */ + /* note: this is a workaround for negative matrix not working for rotation conversion, FIXME */ + if (is_negative_m3(mat3)) { + negate_v3(mat3_n[0]); + negate_v3(mat3_n[1]); + negate_v3(mat3_n[2]); + } + + mat3_to_quat(quat, mat3_n); + copy_v3_v3(loc, wmat[3]); +} + +void mat4_decompose(float loc[3], float quat[4], float size[3], float wmat[4][4]) +{ + float rot[3][3]; + mat4_to_loc_rot_size(loc, rot, size, wmat); + mat3_to_quat(quat, rot); +} + void scale_m3_fl(float m[3][3], float scale) { m[0][0] = m[1][1] = m[2][2] = scale; -- cgit v1.2.3