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/*
* 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.
*/
/** \file
* \ingroup Alembic
*/
#include "abc_axis_conversion.h"
#include "BLI_assert.h"
#include "BLI_math_geom.h"
#include "DNA_object_types.h"
namespace blender {
namespace io {
namespace alembic {
void create_swapped_rotation_matrix(float rot_x_mat[3][3],
float rot_y_mat[3][3],
float rot_z_mat[3][3],
const float euler[3],
AbcAxisSwapMode mode)
{
const float rx = euler[0];
float ry;
float rz;
/* Apply transformation */
switch (mode) {
case ABC_ZUP_FROM_YUP:
ry = -euler[2];
rz = euler[1];
break;
case ABC_YUP_FROM_ZUP:
ry = euler[2];
rz = -euler[1];
break;
default:
ry = 0.0f;
rz = 0.0f;
BLI_assert(false);
break;
}
unit_m3(rot_x_mat);
unit_m3(rot_y_mat);
unit_m3(rot_z_mat);
rot_x_mat[1][1] = cos(rx);
rot_x_mat[2][1] = -sin(rx);
rot_x_mat[1][2] = sin(rx);
rot_x_mat[2][2] = cos(rx);
rot_y_mat[2][2] = cos(ry);
rot_y_mat[0][2] = -sin(ry);
rot_y_mat[2][0] = sin(ry);
rot_y_mat[0][0] = cos(ry);
rot_z_mat[0][0] = cos(rz);
rot_z_mat[1][0] = -sin(rz);
rot_z_mat[0][1] = sin(rz);
rot_z_mat[1][1] = cos(rz);
} // namespace
// alembicvoidcreate_swapped_rotation_matrix(floatrot_x_mat[3][3],floatrot_y_mat[3][3],floatrot_z_mat[3][3],constfloateuler[3],AbcAxisSwapModemode)
/* Convert matrix from Z=up to Y=up or vice versa.
* Use yup_mat = zup_mat for in-place conversion. */
void copy_m44_axis_swap(float dst_mat[4][4], float src_mat[4][4], AbcAxisSwapMode mode)
{
float dst_rot[3][3], src_rot[3][3], dst_scale_mat[4][4];
float rot_x_mat[3][3], rot_y_mat[3][3], rot_z_mat[3][3];
float src_trans[3], dst_scale[3], src_scale[3], euler[3];
zero_v3(src_trans);
zero_v3(dst_scale);
zero_v3(src_scale);
zero_v3(euler);
unit_m3(src_rot);
unit_m3(dst_rot);
unit_m4(dst_scale_mat);
/* TODO(Sybren): This code assumes there is no sheer component and no
* homogeneous scaling component, which is not always true when writing
* non-hierarchical (e.g. flat) objects (e.g. when parent has non-uniform
* scale and the child rotates). This is currently not taken into account
* when axis-swapping. */
/* Extract translation, rotation, and scale form matrix. */
mat4_to_loc_rot_size(src_trans, src_rot, src_scale, src_mat);
/* Get euler angles from rotation matrix. */
mat3_to_eulO(euler, ROT_MODE_XZY, src_rot);
/* Create X, Y, Z rotation matrices from euler angles. */
create_swapped_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler, mode);
/* Concatenate rotation matrices. */
mul_m3_m3m3(dst_rot, dst_rot, rot_z_mat);
mul_m3_m3m3(dst_rot, dst_rot, rot_y_mat);
mul_m3_m3m3(dst_rot, dst_rot, rot_x_mat);
mat3_to_eulO(euler, ROT_MODE_XZY, dst_rot);
/* Start construction of dst_mat from rotation matrix */
unit_m4(dst_mat);
copy_m4_m3(dst_mat, dst_rot);
/* Apply translation */
switch (mode) {
case ABC_ZUP_FROM_YUP:
copy_zup_from_yup(dst_mat[3], src_trans);
break;
case ABC_YUP_FROM_ZUP:
copy_yup_from_zup(dst_mat[3], src_trans);
break;
default:
BLI_assert(false);
}
/* Apply scale matrix. Swaps y and z, but does not
* negate like translation does. */
dst_scale[0] = src_scale[0];
dst_scale[1] = src_scale[2];
dst_scale[2] = src_scale[1];
size_to_mat4(dst_scale_mat, dst_scale);
mul_m4_m4m4(dst_mat, dst_mat, dst_scale_mat);
}
/* Recompute transform matrix of object in new coordinate system
* (from Z-Up to Y-Up). */
void create_transform_matrix(Object *obj,
float r_yup_mat[4][4],
AbcMatrixMode mode,
Object *proxy_from)
{
float zup_mat[4][4];
/* get local or world matrix. */
if (mode == ABC_MATRIX_LOCAL && obj->parent) {
/* Note that this produces another matrix than the local matrix, due to
* constraints and modifiers as well as the obj->parentinv matrix. */
invert_m4_m4(obj->parent->imat, obj->parent->obmat);
mul_m4_m4m4(zup_mat, obj->parent->imat, obj->obmat);
}
else {
copy_m4_m4(zup_mat, obj->obmat);
}
if (proxy_from) {
mul_m4_m4m4(zup_mat, proxy_from->obmat, zup_mat);
}
copy_m44_axis_swap(r_yup_mat, zup_mat, ABC_YUP_FROM_ZUP);
}
} // namespace alembic
} // namespace io
} // namespace blender
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