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Math Lib: add angle_qt functions

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This commit is contained in:
Campbell Barton 2014-03-20 14:39:32 +11:00
parent aee30184f3
commit c6252d6e60
3 changed files with 50 additions and 0 deletions
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7
source/blender/blenlib/BLI_math_base.h
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@ -269,6 +269,12 @@ double double_round(double x, int ndigits);
(fabsf(_test_unit) < BLI_ASSERT_UNIT_EPSILON)); \
} (void)0
# define BLI_ASSERT_UNIT_QUAT(q) { \
const float _test_unit = dot_qtqt(q, q); \
BLI_assert((fabsf(_test_unit - 1.0f) < BLI_ASSERT_UNIT_EPSILON) || \
(fabsf(_test_unit) < BLI_ASSERT_UNIT_EPSILON)); \
} (void)0
# define BLI_ASSERT_ZERO_M3(m) { \
BLI_assert(dot_vn_vn((const float *)m, (const float *)m, 9) != 0.0); \
} (void)0
@ -279,6 +285,7 @@ double double_round(double x, int ndigits);
#else
# define BLI_ASSERT_UNIT_V2(v) (void)(v)
# define BLI_ASSERT_UNIT_V3(v) (void)(v)
# define BLI_ASSERT_UNIT_QUAT(v) (void)(v)
# define BLI_ASSERT_ZERO_M3(m) (void)(m)
# define BLI_ASSERT_ZERO_M4(m) (void)(m)
#endif

5
source/blender/blenlib/BLI_math_rotation.h
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@ -86,6 +86,11 @@ void vec_to_quat(float q[4], const float vec[3], short axis, const short upflag
void rotation_between_vecs_to_quat(float q[4], const float v1[3], const float v2[3]);
void rotation_between_quats_to_quat(float q[4], const float q1[4], const float q2[4]);
float angle_normalized_qt(const float q[4]);
float angle_normalized_qtqt(const float q1[4], const float q2[4]);
float angle_qt(const float q[4]);
float angle_qtqt(const float q1[4], const float q2[4]);
/* TODO: don't what this is, but it's not the same as mat3_to_quat */
void mat3_to_quat_is_ok(float q[4], float mat[3][3]);

38
source/blender/blenlib/intern/math_rotation.c
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@ -440,6 +440,44 @@ void rotation_between_quats_to_quat(float q[4], const float q1[4], const float q
mul_qt_qtqt(q, tquat, q2);
}
float angle_normalized_qt(const float q[4])
{
BLI_ASSERT_UNIT_QUAT(q);
return 2.0f * saacos(q[0]);
}
float angle_qt(const float q[4])
{
float tquat[4];
normalize_qt_qt(tquat, q);
return angle_normalized_qt(tquat);
}
float angle_normalized_qtqt(const float q1[4], const float q2[4])
{
float qdelta[4];
BLI_ASSERT_UNIT_QUAT(q1);
BLI_ASSERT_UNIT_QUAT(q2);
rotation_between_quats_to_quat(qdelta, q1, q2);
return angle_normalized_qt(qdelta);
}
float angle_qtqt(const float q1[4], const float q2[4])
{
float quat1[4], quat2[4];
normalize_qt_qt(quat1, q1);
normalize_qt_qt(quat2, q2);
return angle_normalized_qtqt(quat1, quat2);
}
void vec_to_quat(float q[4], const float vec[3], short axis, const short upflag)
{
float nor[3], tvec[3];