forked from bartvdbraak/blender
code cleanup: remove unused math functions (where already noted as deprecated)
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@ -92,7 +92,7 @@ void print_qt(const char *str, const float q[4]);
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/******************************** Axis Angle *********************************/
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/* conversion */
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void axis_angle_to_quat(float r[4], const float axis[3], float angle);
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void axis_angle_to_quat(float r[4], const float axis[3], const float angle);
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void axis_angle_to_mat3(float R[3][3], const float axis[3], const float angle);
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void axis_angle_to_mat4(float R[4][4], const float axis[3], const float angle);
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@ -107,9 +107,7 @@ void single_axis_angle_to_mat3(float R[3][3], const char axis, const float angle
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/* TODO: the following calls should probably be depreceated sometime */
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/* conversion */
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void vec_rot_to_quat(float quat[4], const float vec[3], const float phi);
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void vec_rot_to_mat3(float mat[3][3], const float vec[3], const float phi);
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void vec_rot_to_mat4(float mat[4][4], const float vec[3], const float phi);
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/******************************** XYZ Eulers *********************************/
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@ -660,22 +660,21 @@ void print_qt(const char *str, const float q[4])
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/******************************** Axis Angle *********************************/
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/* Axis angle to Quaternions */
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void axis_angle_to_quat(float q[4], const float axis[3], float angle)
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void axis_angle_to_quat(float q[4], const float axis[3], const float angle)
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{
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float nor[3];
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float si;
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if (normalize_v3_v3(nor, axis) == 0.0f) {
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unit_qt(q);
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return;
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if (LIKELY(normalize_v3_v3(q + 1, axis) != 0.0f)) {
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const float phi = angle / 2.0f;
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float si;
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si = sinf(phi);
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q[0] = cosf(phi);
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q[1] *= si;
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q[2] *= si;
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q[3] *= si;
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}
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else {
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unit_qt(q);
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}
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angle /= 2;
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si = sinf(angle);
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q[0] = cosf(angle);
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q[1] = nor[0] * si;
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q[2] = nor[1] * si;
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q[3] = nor[2] * si;
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}
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/* Quaternions to Axis Angle */
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@ -838,7 +837,7 @@ void single_axis_angle_to_mat3(float mat[3][3], const char axis, const float ang
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/****************************** Vector/Rotation ******************************/
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/* TODO: the following calls should probably be depreceated sometime */
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/* ODO, replace use of this function with axis_angle_to_mat3() */
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/* TODO, replace use of this function with axis_angle_to_mat3() */
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void vec_rot_to_mat3(float mat[][3], const float vec[3], const float phi)
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{
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/* rotation of phi radials around vec */
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@ -864,38 +863,6 @@ void vec_rot_to_mat3(float mat[][3], const float vec[3], const float phi)
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mat[2][2] = vz2 + co * (1.0f - vz2);
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}
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/* axis angle to 4x4 matrix */
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void vec_rot_to_mat4(float mat[][4], const float vec[3], const float phi)
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{
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float tmat[3][3];
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vec_rot_to_mat3(tmat, vec, phi);
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unit_m4(mat);
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copy_m4_m3(mat, tmat);
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}
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/* axis angle to quaternion */
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void vec_rot_to_quat(float *quat, const float vec[3], const float phi)
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{
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/* rotation of phi radials around vec */
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float si;
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quat[1] = vec[0];
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quat[2] = vec[1];
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quat[3] = vec[2];
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if (normalize_v3(quat + 1) == 0.0f) {
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unit_qt(quat);
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}
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else {
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si = sinf(phi / 2.0);
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quat[0] = cosf(phi / 2.0f);
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quat[1] *= si;
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quat[2] *= si;
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quat[3] *= si;
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}
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}
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/******************************** XYZ Eulers *********************************/
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/* XYZ order */
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