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python mathutils change

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quat * quat was returning the dot product (a float), rather then the cross product.
 Use BLI_math's mul_qt_qtqt() function.
This commit is contained in:
Campbell Barton 2010-08-02 00:08:01 +00:00
parent 2e7c8bbeec
commit c04850ec06
6 changed files with 27 additions and 81 deletions
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6
source/blender/blenlib/BLI_math_rotation.h
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@ -44,9 +44,9 @@ 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(float q[4], float r[3]);
void mul_qt_fl(float q[4], float f);
void mul_fac_qt_fl(float q[4], float f);
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]);

6
source/blender/blenlib/intern/math_rotation.c
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@ -63,7 +63,7 @@ void mul_qt_qtqt(float *q, const float *q1, const float *q2)
}
/* Assumes a unit quaternion */
void mul_qt_v3(float *q, float *v)
void mul_qt_v3(const float *q, float *v)
{
float t0, t1, t2;
@ -111,7 +111,7 @@ void invert_qt_qt(float *q1, const float *q2)
}
/* simple mult */
void mul_qt_fl(float *q, float f)
void mul_qt_fl(float *q, const float f)
{
q[0] *= f;
q[1] *= f;
@ -127,7 +127,7 @@ void sub_qt_qtqt(float *q, float *q1, float *q2)
}
/* angular mult factor */
void mul_fac_qt_fl(float *q, float fac)
void mul_fac_qt_fl(float *q, const float fac)
{
float angle= fac*saacos(q[0]); /* quat[0]= cos(0.5*angle), but now the 0.5 and 2.0 rule out */

69
source/blender/python/generic/mathutils.c
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@ -44,6 +44,7 @@
* - toEuler --> to_euler
* - toQuat --> to_quat
* - Vector.toTrackQuat --> Vector.to_track_quat
* - Quaternion * Quaternion --> cross product (not dot product)
*
* Moved to Geometry module: Intersect, TriangleArea, TriangleNormal, QuadNormal, LineIntersect
*/
@ -92,74 +93,6 @@ int mathutils_array_parse(float *array, int array_min, int array_max, PyObject *
return size;
}
//-----------------------------METHODS----------------------------
//-----------------quat_rotation (internal)-----------
//This function multiplies a vector/point * quat or vice versa
//to rotate the point/vector by the quaternion
//arguments should all be 3D
PyObject *quat_rotation(PyObject *arg1, PyObject *arg2)
{
float rot[3];
QuaternionObject *quat = NULL;
VectorObject *vec = NULL;
if(QuaternionObject_Check(arg1)){
quat = (QuaternionObject*)arg1;
if(!BaseMath_ReadCallback(quat))
return NULL;
if(VectorObject_Check(arg2)){
vec = (VectorObject*)arg2;
if(!BaseMath_ReadCallback(vec))
return NULL;
rot[0] = quat->quat[0]*quat->quat[0]*vec->vec[0] + 2*quat->quat[2]*quat->quat[0]*vec->vec[2] -
2*quat->quat[3]*quat->quat[0]*vec->vec[1] + quat->quat[1]*quat->quat[1]*vec->vec[0] +
2*quat->quat[2]*quat->quat[1]*vec->vec[1] + 2*quat->quat[3]*quat->quat[1]*vec->vec[2] -
quat->quat[3]*quat->quat[3]*vec->vec[0] - quat->quat[2]*quat->quat[2]*vec->vec[0];
rot[1] = 2*quat->quat[1]*quat->quat[2]*vec->vec[0] + quat->quat[2]*quat->quat[2]*vec->vec[1] +
2*quat->quat[3]*quat->quat[2]*vec->vec[2] + 2*quat->quat[0]*quat->quat[3]*vec->vec[0] -
quat->quat[3]*quat->quat[3]*vec->vec[1] + quat->quat[0]*quat->quat[0]*vec->vec[1] -
2*quat->quat[1]*quat->quat[0]*vec->vec[2] - quat->quat[1]*quat->quat[1]*vec->vec[1];
rot[2] = 2*quat->quat[1]*quat->quat[3]*vec->vec[0] + 2*quat->quat[2]*quat->quat[3]*vec->vec[1] +
quat->quat[3]*quat->quat[3]*vec->vec[2] - 2*quat->quat[0]*quat->quat[2]*vec->vec[0] -
quat->quat[2]*quat->quat[2]*vec->vec[2] + 2*quat->quat[0]*quat->quat[1]*vec->vec[1] -
quat->quat[1]*quat->quat[1]*vec->vec[2] + quat->quat[0]*quat->quat[0]*vec->vec[2];
return newVectorObject(rot, 3, Py_NEW, NULL);
}
}else if(VectorObject_Check(arg1)){
vec = (VectorObject*)arg1;
if(!BaseMath_ReadCallback(vec))
return NULL;
if(QuaternionObject_Check(arg2)){
quat = (QuaternionObject*)arg2;
if(!BaseMath_ReadCallback(quat))
return NULL;
rot[0] = quat->quat[0]*quat->quat[0]*vec->vec[0] + 2*quat->quat[2]*quat->quat[0]*vec->vec[2] -
2*quat->quat[3]*quat->quat[0]*vec->vec[1] + quat->quat[1]*quat->quat[1]*vec->vec[0] +
2*quat->quat[2]*quat->quat[1]*vec->vec[1] + 2*quat->quat[3]*quat->quat[1]*vec->vec[2] -
quat->quat[3]*quat->quat[3]*vec->vec[0] - quat->quat[2]*quat->quat[2]*vec->vec[0];
rot[1] = 2*quat->quat[1]*quat->quat[2]*vec->vec[0] + quat->quat[2]*quat->quat[2]*vec->vec[1] +
2*quat->quat[3]*quat->quat[2]*vec->vec[2] + 2*quat->quat[0]*quat->quat[3]*vec->vec[0] -
quat->quat[3]*quat->quat[3]*vec->vec[1] + quat->quat[0]*quat->quat[0]*vec->vec[1] -
2*quat->quat[1]*quat->quat[0]*vec->vec[2] - quat->quat[1]*quat->quat[1]*vec->vec[1];
rot[2] = 2*quat->quat[1]*quat->quat[3]*vec->vec[0] + 2*quat->quat[2]*quat->quat[3]*vec->vec[1] +
quat->quat[3]*quat->quat[3]*vec->vec[2] - 2*quat->quat[0]*quat->quat[2]*vec->vec[0] -
quat->quat[2]*quat->quat[2]*vec->vec[2] + 2*quat->quat[0]*quat->quat[1]*vec->vec[1] -
quat->quat[1]*quat->quat[1]*vec->vec[2] + quat->quat[0]*quat->quat[0]*vec->vec[2];
return newVectorObject(rot, 3, Py_NEW, NULL);
}
}
PyErr_SetString(PyExc_RuntimeError, "quat_rotation(internal): internal problem rotating vector/point\n");
return NULL;
}
//----------------------------------MATRIX FUNCTIONS--------------------
//----------------------------------mathutils.RotationMatrix() ----------
//mat is a 1D array of floats - row[0][0],row[0][1], row[1][0], etc.

2
source/blender/python/generic/mathutils.h
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@ -63,8 +63,6 @@ void BaseMathObject_dealloc(BaseMathObject * self);
PyObject *Mathutils_Init(void);
PyObject *Noise_Init(void); /* lazy, saves having own header */
PyObject *quat_rotation(PyObject *arg1, PyObject *arg2);
int EXPP_FloatsAreEqual(float A, float B, int floatSteps);
int EXPP_VectorsAreEqual(float *vecA, float *vecB, int size, int floatSteps);

14
source/blender/python/generic/mathutils_quat.c
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@ -660,8 +660,9 @@ static PyObject *Quaternion_mul(PyObject * q1, PyObject * q2)
return NULL;
}
if(quat1 && quat2) { /* QUAT*QUAT (dot product) */
return PyFloat_FromDouble(dot_qtqt(quat1->quat, quat2->quat));
if(quat1 && quat2) { /* QUAT*QUAT (cross product) */
mul_qt_qtqt(quat, quat1->quat, quat2->quat);
return newQuaternionObject(quat, Py_NEW, NULL);
}
/* the only case this can happen (for a supported type is "FLOAT*QUAT" ) */
@ -677,12 +678,19 @@ static PyObject *Quaternion_mul(PyObject * q1, PyObject * q2)
}
else { /* QUAT*SOMETHING */
if(VectorObject_Check(q2)){ /* QUAT*VEC */
float tvec[3];
vec = (VectorObject*)q2;
if(vec->size != 3){
PyErr_SetString(PyExc_TypeError, "Quaternion multiplication: only 3D vector rotations currently supported\n");
return NULL;
}
return quat_rotation((PyObject*)quat1, (PyObject*)vec); /* vector updating done inside the func */
if(!BaseMath_ReadCallback(vec)) {
return NULL;
}
copy_v3_v3(tvec, vec->vec);
mul_qt_v3(quat1->quat, tvec);
return newVectorObject(tvec, 3, Py_NEW, NULL);
}
scalar= PyFloat_AsDouble(q2);

11
source/blender/python/generic/mathutils_vector.c
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@ -1010,13 +1010,20 @@ static PyObject *Vector_mul(PyObject * v1, PyObject * v2)
/* VEC * MATRIX */
return row_vector_multiplication(vec1, (MatrixObject*)v2);
} else if (QuaternionObject_Check(v2)) {
QuaternionObject *quat = (QuaternionObject*)v2; /* quat_rotation validates */
/* VEC * QUAT */
QuaternionObject *quat2 = (QuaternionObject*)v2;
float tvec[4];
if(vec1->size != 3) {
PyErr_SetString(PyExc_TypeError, "Vector multiplication: only 3D vector rotations (with quats) currently supported\n");
return NULL;
}
return quat_rotation((PyObject*)vec1, (PyObject*)quat);
if(!BaseMath_ReadCallback(quat2)) {
return NULL;
}
copy_v3_v3(tvec, vec1->vec);
mul_qt_v3(quat2->quat, tvec);
return newVectorObject(tvec, 3, Py_NEW, NULL);
}
else if (((scalar= PyFloat_AsDouble(v2)) == -1.0 && PyErr_Occurred())==0) { /* VEC*FLOAT */
int i;