forked from bartvdbraak/blender
math: Add functions to decompose transformation matrices
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.
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@ -173,6 +173,8 @@ void rotate_m4(float mat[4][4], const char axis, const float angle);
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void mat3_to_rot_size(float rot[3][3], float size[3], float mat3[3][3]);
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void mat4_to_loc_rot_size(float loc[3], float rot[3][3], float size[3], float wmat[4][4]);
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void mat4_to_loc_quat(float loc[3], float quat[4], float wmat[4][4]);
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void mat4_decompose(float loc[3], float quat[4], float size[3], float wmat[4][4]);
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void loc_eul_size_to_mat4(float R[4][4],
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const float loc[3], const float eul[3], const float size[3]);
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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
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copy_v3_v3(loc, wmat[3]);
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}
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void mat4_to_loc_quat(float loc[3], float quat[4], float wmat[4][4])
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{
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float mat3[3][3];
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float mat3_n[3][3]; /* normalized mat3 */
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copy_m3_m4(mat3, wmat);
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normalize_m3_m3(mat3_n, mat3);
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/* so scale doesn't interfere with rotation [#24291] */
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/* note: this is a workaround for negative matrix not working for rotation conversion, FIXME */
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if (is_negative_m3(mat3)) {
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negate_v3(mat3_n[0]);
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negate_v3(mat3_n[1]);
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negate_v3(mat3_n[2]);
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}
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mat3_to_quat(quat, mat3_n);
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copy_v3_v3(loc, wmat[3]);
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}
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void mat4_decompose(float loc[3], float quat[4], float size[3], float wmat[4][4])
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{
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float rot[3][3];
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mat4_to_loc_rot_size(loc, rot, size, wmat);
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mat3_to_quat(quat, rot);
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}
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void scale_m3_fl(float m[3][3], float scale)
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{
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m[0][0] = m[1][1] = m[2][2] = scale;
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