1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
|
/*
* ***** 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_H__
#define __BLI_MATH_ROTATION_H__
/** \file BLI_math_rotation.h
* \ingroup bli
*/
#ifdef __cplusplus
extern "C" {
#endif
#define RAD2DEG(_rad) ((_rad) * (180.0 / M_PI))
#define DEG2RAD(_deg) ((_deg) * (M_PI / 180.0))
#define RAD2DEGF(_rad) ((_rad) * (float)(180.0 / M_PI))
#define DEG2RADF(_deg) ((_deg) * (float)(M_PI / 180.0))
/******************************** Quaternions ********************************/
/* stored in (w, x, y, z) order */
/* init */
void unit_axis_angle(float axis[3], float *angle);
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], const float a[4], const float b[4]);
void invert_qt(float q[4]);
void invert_qt_qt(float q1[4], const float q2[4]);
void invert_qt_normalized(float q[4]);
void invert_qt_qt_normalized(float q1[4], const float q2[4]);
void conjugate_qt(float q[4]);
void conjugate_qt_qt(float q1[4], const float q2[4]);
float dot_qtqt(const float a[4], const float b[4]);
float normalize_qt(float q[4]);
float normalize_qt_qt(float q1[4], const float q2[4]);
/* comparison */
bool is_zero_qt(const float q[4]);
/* interpolation */
void interp_dot_slerp(const float t, const float cosom, float w[2]);
void interp_qt_qtqt(float q[4], const float a[4], const float b[4], const float t);
void add_qt_qtqt(float q[4], const float a[4], const float b[4], const float t);
/* conversion */
void quat_to_mat3(float mat[3][3], const float q[4]);
void quat_to_mat4(float mat[4][4], const float q[4]);
void mat3_normalized_to_quat(float q[4], float mat[3][3]);
void mat4_normalized_to_quat(float q[4], float mat[4][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_ex(float quat[4], const float v1[3], const float v2[3], const float v3[3],
const float no_orig[3]);
float tri_to_quat(float q[4], const float a[3], const float b[3], const float c[3]);
void vec_to_quat(float q[4], const float vec[3], short axis, const short upflag);
/* note: v1 and v2 must be normalized */
void rotation_between_vecs_to_mat3(float m[3][3], const float v1[3], const float v2[3]);
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]);
float angle_normalized_qt(const float q[4]);
float angle_normalized_qtqt(const float q1[4], const float q2[4]);
float angle_qt(const float q[4]);
float angle_qtqt(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(const char *str, const float q[4]);
#define print_qt_id(q) print_qt(STRINGIFY(q), q)
/******************************** Axis Angle *********************************/
/* conversion */
void axis_angle_normalized_to_quat(float r[4], const float axis[3], const float angle);
void axis_angle_to_quat(float r[4], const float axis[3], const float angle);
void axis_angle_to_mat3(float R[3][3], const float axis[3], const float angle);
void axis_angle_normalized_to_mat3_ex(float mat[3][3], const float axis[3],
const float angle_sin, const float angle_cos);
void axis_angle_normalized_to_mat3(float R[3][3], const float axis[3], const float angle);
void axis_angle_to_mat4(float R[4][4], const float axis[3], const float angle);
void mat3_normalized_to_axis_angle(float axis[3], float *angle, float M[3][3]);
void mat4_normalized_to_axis_angle(float axis[3], float *angle, float M[4][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]);
void quat_to_axis_angle(float axis[3], float *angle, const float q[4]);
void axis_angle_to_mat3_single(float R[3][3], const char axis, const float angle);
void angle_to_mat2(float R[2][2], const float angle);
void axis_angle_to_quat_single(float q[4], const char axis, const float angle);
/****************************** Exponential Map ******************************/
void quat_to_expmap(float expmap[3], const float q[4]);
void quat_normalized_to_expmap(float expmap[3], const float q[4]);
void expmap_to_quat(float r[4], const float expmap[3]);
/******************************** XYZ Eulers *********************************/
void eul_to_quat(float quat[4], const float eul[3]);
void eul_to_mat3(float mat[3][3], const float eul[3]);
void eul_to_mat4(float mat[4][4], const float eul[3]);
void mat3_normalized_to_eul(float eul[3], float mat[3][3]);
void mat4_normalized_to_eul(float eul[3], float mat[4][4]);
void mat3_to_eul(float eul[3], float mat[3][3]);
void mat4_to_eul(float eul[3], float mat[4][4]);
void quat_to_eul(float eul[3], const float quat[4]);
void mat3_normalized_to_compatible_eul(float eul[3], const float old[3], float mat[3][3]);
void mat3_to_compatible_eul(float eul[3], const float old[3], float mat[3][3]);
void quat_to_compatible_eul(float eul[3], const float oldrot[3], const float quat[4]);
void compatible_eul(float eul[3], const float old[3]);
void rotate_eul(float eul[3], const char axis, const 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], const float eul[3], const short order);
void eulO_to_mat3(float mat[3][3], const float eul[3], const short order);
void eulO_to_mat4(float mat[4][4], const float eul[3], const short order);
void eulO_to_axis_angle(float axis[3], float *angle, const float eul[3], const short order);
void eulO_to_gimbal_axis(float gmat[3][3], const float eul[3], const short order);
void mat3_normalized_to_eulO(float eul[3], const short order, float mat[3][3]);
void mat4_normalized_to_eulO(float eul[3], const short order, float mat[4][4]);
void mat3_to_eulO(float eul[3], const short order, float mat[3][3]);
void mat4_to_eulO(float eul[3], const short order, float mat[4][4]);
void quat_to_eulO(float eul[3], const short order, const float quat[4]);
void axis_angle_to_eulO(float eul[3], const short order, const float axis[3], const float angle);
void mat3_normalized_to_compatible_eulO(float eul[3], float old[3], const short order, float mat[3][3]);
void mat4_normalized_to_compatible_eulO(float eul[3], float old[3], const short order, float mat[4][4]);
void mat3_to_compatible_eulO(float eul[3], float old[3], const short order, float mat[3][3]);
void mat4_to_compatible_eulO(float eul[3], float old[3], const short order, float mat[4][4]);
void quat_to_compatible_eulO(float eul[3], float old[3], const short order, const float quat[4]);
void rotate_eulO(float eul[3], const 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, const DualQuat *dq);
void normalize_dq(DualQuat *dq, float totw);
void add_weighted_dq_dq(DualQuat *r, const 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], const DualQuat *dq);
void quat_apply_track(float quat[4], short axis, short upflag);
void vec_apply_track(float vec[3], short axis);
float focallength_to_fov(float focal_length, float sensor);
float fov_to_focallength(float fov, float sensor);
float angle_wrap_rad(float angle);
float angle_wrap_deg(float angle);
float angle_compat_rad(float angle, float angle_compat);
int mat3_from_axis_conversion(int from_forward, int from_up, int to_forward, int to_up,
float r_mat[3][3]);
#ifdef __cplusplus
}
#endif
#endif /* __BLI_MATH_ROTATION_H__ */
|
