forked from bartvdbraak/blender
Math Lib: mat3_to_eulo2 & mat3_to_eul2 mixed float/double differently
replace sqrt with hypotf to avoid precision loss instead
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@ -1088,25 +1088,24 @@ static void mat3_to_eul2(float tmat[3][3], float eul1[3], float eul2[3])
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mat3_to_quat(quat, tmat);
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quat_to_mat3(mat, quat);
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copy_m3_m3(mat, tmat);
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normalize_m3(mat);
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normalize_m3_m3(mat, tmat);
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cy = sqrtf(mat[0][0] * mat[0][0] + mat[0][1] * mat[0][1]);
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cy = hypotf(mat[0][0], mat[0][1]);
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if (cy > 16.0f * FLT_EPSILON) {
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eul1[0] = (float)atan2(mat[1][2], mat[2][2]);
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eul1[1] = (float)atan2(-mat[0][2], cy);
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eul1[2] = (float)atan2(mat[0][1], mat[0][0]);
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eul1[0] = atan2f(mat[1][2], mat[2][2]);
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eul1[1] = atan2f(-mat[0][2], cy);
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eul1[2] = atan2f(mat[0][1], mat[0][0]);
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eul2[0] = (float)atan2(-mat[1][2], -mat[2][2]);
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eul2[1] = (float)atan2(-mat[0][2], -cy);
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eul2[2] = (float)atan2(-mat[0][1], -mat[0][0]);
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eul2[0] = atan2f(-mat[1][2], -mat[2][2]);
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eul2[1] = atan2f(-mat[0][2], -cy);
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eul2[2] = atan2f(-mat[0][1], -mat[0][0]);
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}
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else {
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eul1[0] = (float)atan2(-mat[2][1], mat[1][1]);
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eul1[1] = (float)atan2(-mat[0][2], cy);
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eul1[0] = atan2f(-mat[2][1], mat[1][1]);
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eul1[1] = atan2f(-mat[0][2], cy);
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eul1[2] = 0.0f;
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copy_v3_v3(eul2, eul1);
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@ -1380,44 +1379,38 @@ void eulO_to_mat3(float M[3][3], const float e[3], const short order)
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}
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/* returns two euler calculation methods, so we can pick the best */
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static void mat3_to_eulo2(float M[3][3], float e1[3], float e2[3], const short order)
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static void mat3_to_eulo2(float M[3][3], float eul1[3], float eul2[3], const short order)
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{
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const RotOrderInfo *R = GET_ROTATIONORDER_INFO(order);
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short i = R->axis[0], j = R->axis[1], k = R->axis[2];
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float m[3][3];
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double cy;
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float mat[3][3];
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float cy;
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/* process the matrix first */
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copy_m3_m3(m, M);
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normalize_m3(m);
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normalize_m3_m3(mat, M);
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cy = sqrt(m[i][i] * m[i][i] + m[i][j] * m[i][j]);
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cy = hypotf(mat[i][i], mat[i][j]);
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if (cy > 16.0 * (double)FLT_EPSILON) {
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e1[i] = atan2f(m[j][k], m[k][k]);
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e1[j] = atan2f(-m[i][k], (float)cy);
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e1[k] = atan2f(m[i][j], m[i][i]);
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if (cy > 16.0f * FLT_EPSILON) {
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eul1[i] = atan2f(mat[j][k], mat[k][k]);
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eul1[j] = atan2f(-mat[i][k], cy);
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eul1[k] = atan2f(mat[i][j], mat[i][i]);
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e2[i] = atan2f(-m[j][k], -m[k][k]);
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e2[j] = atan2f(-m[i][k], (float)-cy);
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e2[k] = atan2f(-m[i][j], -m[i][i]);
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eul2[i] = atan2f(-mat[j][k], -mat[k][k]);
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eul2[j] = atan2f(-mat[i][k], -cy);
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eul2[k] = atan2f(-mat[i][j], -mat[i][i]);
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}
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else {
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e1[i] = atan2f(-m[k][j], m[j][j]);
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e1[j] = atan2f(-m[i][k], (float)cy);
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e1[k] = 0;
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eul1[i] = atan2f(-mat[k][j], mat[j][j]);
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eul1[j] = atan2f(-mat[i][k], cy);
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eul1[k] = 0;
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copy_v3_v3(e2, e1);
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copy_v3_v3(eul2, eul1);
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}
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if (R->parity) {
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e1[0] = -e1[0];
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e1[1] = -e1[1];
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e1[2] = -e1[2];
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e2[0] = -e2[0];
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e2[1] = -e2[1];
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e2[2] = -e2[2];
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negate_v3(eul1);
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negate_v3(eul2);
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}
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}
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