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Fix dual quaternions flipping in case of stretched (not scaled) bones.

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Brecht Van Lommel 2010-02-22 18:53:46 +00:00
parent 2b9740bc3b
commit b7e7a0140b
1 changed files with 8 additions and 2 deletions
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10
source/blender/blenlib/intern/math_rotation.c
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@ -1333,8 +1333,14 @@ void mat4_to_dquat(DualQuat *dq,float basemat[][4], float mat[][4])
if((determinant_m4(mat) < 0.0f) || len_v3(dscale) > 1e-4) {
/* extract R and S */
mat4_to_quat(basequat,baseRS);
quat_to_mat4(baseR,basequat);
float tmp[4][4];
/* extra orthogonalize, to avoid flipping with stretched bones */
copy_m4_m4(tmp, baseRS);
orthogonalize_m4(tmp, 1);
mat4_to_quat(basequat, tmp);
quat_to_mat4(baseR, basequat);
copy_v3_v3(baseR[3], baseRS[3]);
invert_m4_m4(baseinv, basemat);