/** * $Id$ * * ***** BEGIN GPL LICENSE BLOCK ***** * * This program is free software; you can redistribute it and/or * modify it under the terms of the GNU General Public License * as published by the Free Software Foundation; either version 2 * of the License, or (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software Foundation, * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. * * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. * All rights reserved. * * 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], const float a[4]); /* arithmetic */ void mul_qt_qtqt(float q[4], const float a[4], const float b[4]); void mul_qt_v3(const float q[4], float r[3]); void mul_qt_fl(float q[4], const float f); void mul_fac_qt_fl(float q[4], const float f); void sub_qt_qtqt(float q[4], float a[4], float b[4]); void invert_qt(float q[4]); void invert_qt_qt(float *q1, const float *q2); 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); /* 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); /* note: v1 and v2 must be normalized */ void rotation_between_vecs_to_quat(float q[4], const float v1[3], const float v2[3]); void rotation_between_quats_to_quat(float q[4], const float q1[4], const float q2[4]); /* TODO: don't what this is, but it's not the same as mat3_to_quat */ void mat3_to_quat_is_ok(float q[4], float mat[3][3]); /* 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); 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 mat4_to_compatible_eulO(float eul[3], float old[3], short order, float mat[4][4]); 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); void quat_apply_track(float quat[4], short axis, short upflag); void vec_apply_track(float vec[3], short axis); float lens_to_angle(float lens); float angle_to_lens(float angle); #ifdef __cplusplus } #endif #endif /* BLI_MATH_ROTATION */