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math: Add functions to decompose transformation matrices

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mat4_decompose() is similar to mat4_to_loc_rot_size() but returns
rotation as quaternion.
mat4_to_loc_quat() just returns location and rotation without size.
This commit is contained in:
Sergej Reich 2013-01-23 05:56:05 +00:00
parent 281e094e16
commit e83e3b0cf7
2 changed files with 29 additions and 0 deletions
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2
source/blender/blenlib/BLI_math_matrix.h
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@ -173,6 +173,8 @@ void rotate_m4(float mat[4][4], const char axis, const float angle);
void mat3_to_rot_size(float rot[3][3], float size[3], float mat3[3][3]); void mat3_to_rot_size(float rot[3][3], float size[3], float mat3[3][3]);
void mat4_to_loc_rot_size(float loc[3], float rot[3][3], float size[3], float wmat[4][4]); void mat4_to_loc_rot_size(float loc[3], float rot[3][3], float size[3], float wmat[4][4]);
void mat4_to_loc_quat(float loc[3], float quat[4], float wmat[4][4]);
void mat4_decompose(float loc[3], float quat[4], float size[3], float wmat[4][4]);
void loc_eul_size_to_mat4(float R[4][4], void loc_eul_size_to_mat4(float R[4][4],
const float loc[3], const float eul[3], const float size[3]); const float loc[3], const float eul[3], const float size[3]);

27
source/blender/blenlib/intern/math_matrix.c
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@ -1212,6 +1212,33 @@ void mat4_to_loc_rot_size(float loc[3], float rot[3][3], float size[3], float wm
copy_v3_v3(loc, wmat[3]); copy_v3_v3(loc, wmat[3]);
} }
void mat4_to_loc_quat(float loc[3], float quat[4], float wmat[4][4])
{
float mat3[3][3];
float mat3_n[3][3]; /* normalized mat3 */
copy_m3_m4(mat3, wmat);
normalize_m3_m3(mat3_n, mat3);
/* so scale doesn't interfere with rotation [#24291] */
/* note: this is a workaround for negative matrix not working for rotation conversion, FIXME */
if (is_negative_m3(mat3)) {
negate_v3(mat3_n[0]);
negate_v3(mat3_n[1]);
negate_v3(mat3_n[2]);
}
mat3_to_quat(quat, mat3_n);
copy_v3_v3(loc, wmat[3]);
}
void mat4_decompose(float loc[3], float quat[4], float size[3], float wmat[4][4])
{
float rot[3][3];
mat4_to_loc_rot_size(loc, rot, size, wmat);
mat3_to_quat(quat, rot);
}
void scale_m3_fl(float m[3][3], float scale) void scale_m3_fl(float m[3][3], float scale)
{ {
m[0][0] = m[1][1] = m[2][2] = scale; m[0][0] = m[1][1] = m[2][2] = scale;