/* SPDX-License-Identifier: GPL-2.0-or-later */ /** \file * \ingroup pymathutils */ #include #include "mathutils.h" #include "BLI_math.h" #include "BLI_utildefines.h" #include "../generic/py_capi_utils.h" #include "../generic/python_utildefines.h" #ifndef MATH_STANDALONE # include "BLI_dynstr.h" #endif #define QUAT_SIZE 4 static PyObject *quat__apply_to_copy(PyObject *(*quat_func)(QuaternionObject *), QuaternionObject *self); 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); /* -------------------------------------------------------------------- */ /** \name Utilities * \{ */ static PyObject *quat__apply_to_copy(PyObject *(*quat_func)(QuaternionObject *), QuaternionObject *self) { PyObject *ret = Quaternion_copy(self); PyObject *ret_dummy = quat_func((QuaternionObject *)ret); if (ret_dummy) { Py_DECREF(ret_dummy); return ret; } /* 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; } } } /** * \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; } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Type: `__new__` / `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); } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Methods: To Euler * \{ */ 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"); 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, "Quaternion.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); } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Methods: To Matrix * \{ */ 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"); static PyObject *Quaternion_to_matrix(QuaternionObject *self) { float mat[9]; /* all values are set */ if (BaseMath_ReadCallback(self) == -1) { return NULL; } quat_to_mat3((float(*)[3])mat, self->quat); return Matrix_CreatePyObject(mat, 3, 3, NULL); } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Methods: To Axis/Angle * \{ */ 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"); static PyObject *Quaternion_to_axis_angle(QuaternionObject *self) { PyObject *ret; float tquat[4]; float axis[3]; float angle; if (BaseMath_ReadCallback(self) == -1) { return NULL; } normalize_qt_qt(tquat, self->quat); quat_to_axis_angle(axis, &angle, tquat); quat__axis_angle_sanitize(axis, &angle); ret = PyTuple_New(2); PyTuple_SET_ITEMS(ret, Vector_CreatePyObject(axis, 3, NULL), PyFloat_FromDouble(angle)); return ret; } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Methods: To Swing/Twist * \{ */ PyDoc_STRVAR(Quaternion_to_swing_twist_doc, ".. method:: to_swing_twist(axis)\n" "\n" " Split the rotation into a swing quaternion with the specified\n" " axis fixed at zero, and the remaining twist rotation angle.\n" "\n" " :arg axis: twist axis as a string in ['X', 'Y', 'Z']\n" " :return: swing, twist angle.\n" " :rtype: (:class:`Quaternion`, float) pair\n"); static PyObject *Quaternion_to_swing_twist(QuaternionObject *self, PyObject *axis_arg) { PyObject *ret; const char *axis_str = NULL; float swing[4], twist; int axis; if (axis_arg && PyUnicode_Check(axis_arg)) { axis_str = PyUnicode_AsUTF8(axis_arg); } if (axis_str && axis_str[0] >= 'X' && axis_str[0] <= 'Z' && axis_str[1] == 0) { axis = axis_str[0] - 'X'; } else { PyErr_SetString(PyExc_ValueError, "Quaternion.to_swing_twist(): " "the axis argument must be " "a string in 'X', 'Y', 'Z'"); return NULL; } if (BaseMath_ReadCallback(self) == -1) { return NULL; } twist = quat_split_swing_and_twist(self->quat, axis, swing, NULL); ret = PyTuple_New(2); PyTuple_SET_ITEMS( ret, Quaternion_CreatePyObject(swing, Py_TYPE(self)), PyFloat_FromDouble(twist)); return ret; } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Methods: To Exponential Map * \{ */ 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.\n" " 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]; if (BaseMath_ReadCallback(self) == -1) { return NULL; } quat_to_expmap(expmap, self->quat); return Vector_CreatePyObject(expmap, 3, NULL); } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Methods: Cross Product * \{ */ 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"); static PyObject *Quaternion_cross(QuaternionObject *self, PyObject *value) { float quat[QUAT_SIZE], tquat[QUAT_SIZE]; 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; } mul_qt_qtqt(quat, self->quat, tquat); return Quaternion_CreatePyObject(quat, Py_TYPE(self)); } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Methods: Dot Product * \{ */ 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: float\n"); static PyObject *Quaternion_dot(QuaternionObject *self, PyObject *value) { float tquat[QUAT_SIZE]; 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; } return PyFloat_FromDouble(dot_qtqt(self->quat, tquat)); } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Methods: Rotation Difference * \{ */ 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"); static PyObject *Quaternion_rotation_difference(QuaternionObject *self, PyObject *value) { float tquat[QUAT_SIZE], quat[QUAT_SIZE]; if (BaseMath_ReadCallback(self) == -1) { return NULL; } if (mathutils_array_parse(tquat, QUAT_SIZE, QUAT_SIZE, value, "Quaternion.rotation_difference(other), invalid 'other' arg") == -1) { return NULL; } rotation_between_quats_to_quat(quat, self->quat, tquat); return Quaternion_CreatePyObject(quat, Py_TYPE(self)); } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Methods: Spherical Interpolation (slerp) * \{ */ 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"); 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)); } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Methods: Rotate * \{ */ 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"); static PyObject *Quaternion_rotate(QuaternionObject *self, PyObject *value) { 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 (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); mat3_to_quat(self->quat, rmat); mul_qt_fl(self->quat, length); /* maintain length after rotating */ (void)BaseMath_WriteCallback(self); Py_RETURN_NONE; } PyDoc_STRVAR(Quaternion_make_compatible_doc, ".. method:: make_compatible(other)\n" "\n" " Make this quaternion compatible with another,\n" " so interpolating between them works as intended.\n"); static PyObject *Quaternion_make_compatible(QuaternionObject *self, PyObject *value) { float quat[QUAT_SIZE]; float tquat[QUAT_SIZE]; if (BaseMath_ReadCallback_ForWrite(self) == -1) { return NULL; } if (mathutils_array_parse(tquat, QUAT_SIZE, QUAT_SIZE, value, "Quaternion.make_compatible(other), invalid 'other' arg") == -1) { return NULL; } /* Can only operate on unit length quaternions. */ const float quat_len = normalize_qt_qt(quat, self->quat); quat_to_compatible_quat(self->quat, quat, tquat); mul_qt_fl(self->quat, quat_len); (void)BaseMath_WriteCallback(self); Py_RETURN_NONE; } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Methods: 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"); static PyObject *Quaternion_normalize(QuaternionObject *self) { if (BaseMath_ReadCallback_ForWrite(self) == -1) { return NULL; } normalize_qt(self->quat); (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"); static PyObject *Quaternion_normalized(QuaternionObject *self) { return quat__apply_to_copy(Quaternion_normalize, self); } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Methods: Invert * * 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_invert_doc, ".. 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; } invert_qt(self->quat); (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"); static PyObject *Quaternion_inverted(QuaternionObject *self) { return quat__apply_to_copy(Quaternion_invert, self); } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Methods: Set Identity * \{ */ PyDoc_STRVAR(Quaternion_identity_doc, ".. 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; } unit_qt(self->quat); (void)BaseMath_WriteCallback(self); Py_RETURN_NONE; } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Methods: Negate * \{ */ PyDoc_STRVAR(Quaternion_negate_doc, ".. 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; } mul_qt_fl(self->quat, -1.0f); (void)BaseMath_WriteCallback(self); Py_RETURN_NONE; } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Methods: Conjugate * \{ */ PyDoc_STRVAR(Quaternion_conjugate_doc, ".. 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; } conjugate_qt(self->quat); (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"); static PyObject *Quaternion_conjugated(QuaternionObject *self) { return quat__apply_to_copy(Quaternion_conjugate, self); } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Methods: Copy/Deep-Copy * \{ */ 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"); static PyObject *Quaternion_copy(QuaternionObject *self) { if (BaseMath_ReadCallback(self) == -1) { return NULL; } 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); } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Type: `__repr__` & `__str__` * \{ */ static PyObject *Quaternion_repr(QuaternionObject *self) { PyObject *ret, *tuple; if (BaseMath_ReadCallback(self) == -1) { return NULL; } tuple = Quaternion_to_tuple_ext(self, -1); ret = PyUnicode_FromFormat("Quaternion(%R)", tuple); Py_DECREF(tuple); return ret; } #ifndef MATH_STANDALONE static PyObject *Quaternion_str(QuaternionObject *self) { DynStr *ds; if (BaseMath_ReadCallback(self) == -1) { return NULL; } ds = BLI_dynstr_new(); BLI_dynstr_appendf(ds, "", self->quat[0], self->quat[1], self->quat[2], self->quat[3]); return mathutils_dynstr_to_py(ds); /* frees ds */ } #endif /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Type: Rich Compare * \{ */ 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); } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Type: Hash (`__hash__`) * \{ */ static Py_hash_t Quaternion_hash(QuaternionObject *self) { if (BaseMath_ReadCallback(self) == -1) { return -1; } if (BaseMathObject_Prepare_ForHash(self) == -1) { return -1; } return mathutils_array_hash(self->quat, QUAT_SIZE); } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Type: Sequence & Mapping Protocols Implementation * \{ */ /** Sequence length: `len(object)`. */ static int Quaternion_len(QuaternionObject *UNUSED(self)) { return QUAT_SIZE; } /** Sequence accessor (get): `x = object[i]`. */ 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]); } /** Sequence accessor (set): `object[i] = x`. */ 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; } /** Sequence slice accessor (get): `x = object[i:j]`. */ 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; } /** Sequence slice accessor (set): `object[i:j] = x`. */ 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; } /** Sequence generic subscript (get): `x = object[...]`. */ 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); } 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); } if (step == 1) { return Quaternion_slice(self, start, stop); } PyErr_SetString(PyExc_IndexError, "slice steps not supported with quaternions"); return NULL; } PyErr_Format( PyExc_TypeError, "quaternion indices must be integers, not %.200s", Py_TYPE(item)->tp_name); return NULL; } /** Sequence generic subscript (set): `object[...] = x`. */ 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); } 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); } PyErr_SetString(PyExc_IndexError, "slice steps not supported with quaternion"); return -1; } PyErr_Format( PyExc_TypeError, "quaternion indices must be integers, not %.200s", Py_TYPE(item)->tp_name); return -1; } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Type: Numeric Protocol Implementation * \{ */ /** Addition: `object + object`. */ 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)); } /** Subtraction: `object - object`. */ 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)); } 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)); } /** Multiplication (element-wise or scalar): `object * object`. */ 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 quat[QUAT_SIZE]; mul_vn_vnvn(quat, quat1->quat, quat2->quat, QUAT_SIZE); return Quaternion_CreatePyObject(quat, Py_TYPE(q1)); } /* the only case this can happen (for a supported type is "FLOAT * QUAT") */ 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; } /** Multiplication in-place (element-wise or scalar): `object *= object`. */ 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 (in-place element-wise product). */ mul_vn_vn(quat1->quat, quat2->quat, QUAT_SIZE); } 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; } /** Multiplication (quaternion multiply): `object @ object`. */ 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)); } if (quat1) { /* QUAT @ VEC */ if (VectorObject_Check(q2)) { VectorObject *vec2 = (VectorObject *)q2; float tvec[3]; if (vec2->vec_num != 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; } /** Multiplication in-place (quaternion multiply): `object @= object`. */ 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, "In place 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; } /** Negative (returns the negative of this object): `-object`. */ static PyObject *Quaternion_neg(QuaternionObject *self) { float tquat[QUAT_SIZE]; if (BaseMath_ReadCallback(self) == -1) { return NULL; } negate_v4_v4(tquat, self->quat); return Quaternion_CreatePyObject(tquat, Py_TYPE(self)); } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Type: 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*/ }; static PyMappingMethods Quaternion_AsMapping = { (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*/ }; /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Type: Get/Set Item Implementation * \{ */ 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)); } static int Quaternion_axis_set(QuaternionObject *self, PyObject *value, void *type) { 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"); static PyObject *Quaternion_magnitude_get(QuaternionObject *self, void *UNUSED(closure)) { if (BaseMath_ReadCallback(self) == -1) { return NULL; } return PyFloat_FromDouble(sqrtf(dot_qtqt(self->quat, self->quat))); } 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; if (BaseMath_ReadCallback(self) == -1) { return NULL; } normalize_qt_qt(tquat, self->quat); angle = 2.0f * saacos(tquat[0]); quat__axis_angle_sanitize(NULL, &angle); return PyFloat_FromDouble(angle); } static int Quaternion_angle_set(QuaternionObject *self, PyObject *value, void *UNUSED(closure)) { float tquat[4]; float len; float axis[3], angle_dummy; float angle; if (BaseMath_ReadCallback_ForWrite(self) == -1) { return -1; } len = normalize_qt_qt(tquat, self->quat); quat_to_axis_angle(axis, &angle_dummy, tquat); 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; } angle = angle_wrap_rad(angle); quat__axis_angle_sanitize(axis, &angle); axis_angle_to_quat(self->quat, axis, angle); mul_qt_fl(self->quat, len); if (BaseMath_WriteCallback(self) == -1) { return -1; } return 0; } 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 axis[3]; float angle_dummy; if (BaseMath_ReadCallback(self) == -1) { return NULL; } normalize_qt_qt(tquat, self->quat); quat_to_axis_angle(axis, &angle_dummy, tquat); quat__axis_angle_sanitize(axis, NULL); return Vector_CreatePyObject(axis, 3, NULL); } static int Quaternion_axis_vector_set(QuaternionObject *self, PyObject *value, void *UNUSED(closure)) { float tquat[4]; float len; float axis[3]; float angle; 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 */ if (mathutils_array_parse(axis, 3, 3, value, "quat.axis = other") == -1) { return -1; } quat__axis_angle_sanitize(axis, &angle); axis_angle_to_quat(self->quat, axis, angle); mul_qt_fl(self->quat, len); if (BaseMath_WriteCallback(self) == -1) { return -1; } return 0; } /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Type: Get/Set Item Definitions * \{ */ static PyGetSetDef Quaternion_getseters[] = { {"w", (getter)Quaternion_axis_get, (setter)Quaternion_axis_set, Quaternion_axis_doc, (void *)0}, {"x", (getter)Quaternion_axis_get, (setter)Quaternion_axis_set, Quaternion_axis_doc, (void *)1}, {"y", (getter)Quaternion_axis_get, (setter)Quaternion_axis_set, Quaternion_axis_doc, (void *)2}, {"z", (getter)Quaternion_axis_get, (setter)Quaternion_axis_set, Quaternion_axis_doc, (void *)3}, {"magnitude", (getter)Quaternion_magnitude_get, (setter)NULL, Quaternion_magnitude_doc, NULL}, {"angle", (getter)Quaternion_angle_get, (setter)Quaternion_angle_set, Quaternion_angle_doc, NULL}, {"axis", (getter)Quaternion_axis_vector_get, (setter)Quaternion_axis_vector_set, Quaternion_axis_vector_doc, NULL}, {"is_wrapped", (getter)BaseMathObject_is_wrapped_get, (setter)NULL, BaseMathObject_is_wrapped_doc, NULL}, {"is_frozen", (getter)BaseMathObject_is_frozen_get, (setter)NULL, BaseMathObject_is_frozen_doc, NULL}, {"is_valid", (getter)BaseMathObject_is_valid_get, (setter)NULL, BaseMathObject_is_valid_doc, NULL}, {"owner", (getter)BaseMathObject_owner_get, (setter)NULL, BaseMathObject_owner_doc, NULL}, {NULL, NULL, NULL, NULL, NULL} /* Sentinel */ }; /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Type: 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_swing_twist", (PyCFunction)Quaternion_to_swing_twist, METH_O, Quaternion_to_swing_twist_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}, {"make_compatible", (PyCFunction)Quaternion_make_compatible, METH_O, Quaternion_make_compatible_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}, }; /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Type: Python Object Definition * \{ */ PyDoc_STRVAR(quaternion_doc, ".. class:: Quaternion([seq, [angle]])\n" "\n" " This object gives access to Quaternions in Blender.\n" "\n" " :arg seq: size 3 or 4\n" " :type seq: :class:`Vector`\n" " :arg 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 */ (printfunc)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 */ #else 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 */ (inquiry)BaseMathObject_is_gc, /* tp_is_gc */ NULL, /* tp_bases */ NULL, /* tp_mro */ NULL, /* tp_cache */ NULL, /* tp_subclasses */ NULL, /* tp_weaklist */ NULL, /* tp_del */ }; /** \} */ /* -------------------------------------------------------------------- */ /** \name Quaternion Type: C/API Constructors * \{ */ 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; } 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; } PyObject *Quaternion_CreatePyObject_cb(PyObject *cb_user, uchar cb_type, uchar 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; BLI_assert(!PyObject_GC_IsTracked((PyObject *)self)); PyObject_GC_Track(self); } return (PyObject *)self; } /** \} */