Blender V2.61 - r43446

BLI_math_rotation.h

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00001 /*
00002  * ***** BEGIN GPL LICENSE BLOCK *****
00003  *
00004  * This program is free software; you can redistribute it and/or
00005  * modify it under the terms of the GNU General Public License
00006  * as published by the Free Software Foundation; either version 2
00007  * of the License, or (at your option) any later version.
00008  *
00009  * This program is distributed in the hope that it will be useful,
00010  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00011  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00012  * GNU General Public License for more details.
00013  *
00014  * You should have received a copy of the GNU General Public License
00015  * along with this program; if not, write to the Free Software Foundation,
00016  * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
00017  *
00018  * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
00019  * All rights reserved.
00020  *
00021  * The Original Code is: some of this file.
00022  *
00023  * ***** END GPL LICENSE BLOCK *****
00024  * */
00025 
00026 #ifndef BLI_MATH_ROTATION_H
00027 #define BLI_MATH_ROTATION_H
00028 
00033 #ifdef __cplusplus
00034 extern "C" {
00035 #endif
00036 
00037 #define RAD2DEG(_rad) ((_rad)*(180.0/M_PI))
00038 #define DEG2RAD(_deg) ((_deg)*(M_PI/180.0))
00039 
00040 
00041 #define RAD2DEGF(_rad) ((_rad)*(float)(180.0/M_PI))
00042 #define DEG2RADF(_deg) ((_deg)*(float)(M_PI/180.0))
00043 
00044 /******************************** Quaternions ********************************/
00045 /* stored in (w, x, y, z) order                                              */
00046 
00047 /* init */
00048 void unit_axis_angle(float axis[3], float *angle);
00049 void unit_qt(float q[4]);
00050 void copy_qt_qt(float q[4], const float a[4]);
00051 
00052 /* arithmetic */
00053 void mul_qt_qtqt(float q[4], const float a[4], const float b[4]);
00054 void mul_qt_v3(const float q[4], float r[3]);
00055 void mul_qt_fl(float q[4], const float f);
00056 void mul_fac_qt_fl(float q[4], const float f);
00057 
00058 void sub_qt_qtqt(float q[4], const float a[4], const float b[4]);
00059 
00060 void invert_qt(float q[4]);
00061 void invert_qt_qt(float q1[4], const float q2[4]);
00062 void conjugate_qt(float q[4]);
00063 float dot_qtqt(const float a[4], const float b[4]);
00064 float normalize_qt(float q[4]);
00065 float normalize_qt_qt(float q1[4], const float q2[4]);
00066 
00067 /* comparison */
00068 int is_zero_qt(float q[4]);
00069 
00070 /* interpolation */
00071 void interp_qt_qtqt(float q[4], const float a[4], const float b[4], const float t);
00072 void add_qt_qtqt(float q[4], const float a[4], const float b[4], const float t);
00073 
00074 /* conversion */
00075 void quat_to_mat3(float mat[3][3], const float q[4]);
00076 void quat_to_mat4(float mat[4][4], const float q[4]);
00077 
00078 void mat3_to_quat(float q[4], float mat[3][3]);
00079 void mat4_to_quat(float q[4], float mat[4][4]);
00080 void tri_to_quat(float q[4], const float a[3], const float b[3], const float c[3]);
00081 void vec_to_quat(float q[4], const float vec[3], short axis, const short upflag);
00082 /* note: v1 and v2 must be normalized */
00083 void rotation_between_vecs_to_quat(float q[4], const float v1[3], const float v2[3]);
00084 void rotation_between_quats_to_quat(float q[4], const float q1[4], const float q2[4]);
00085 
00086 /* TODO: don't what this is, but it's not the same as mat3_to_quat */
00087 void mat3_to_quat_is_ok(float q[4], float mat[3][3]);
00088 
00089 /* other */
00090 void print_qt(const char *str, const float q[4]);
00091 
00092 /******************************** Axis Angle *********************************/
00093 
00094 /* conversion */
00095 void axis_angle_to_quat(float r[4], const float axis[3], float angle);
00096 void axis_angle_to_mat3(float R[3][3], const float axis[3], const float angle);
00097 void axis_angle_to_mat4(float R[4][4], const float axis[3], const float angle);
00098 
00099 void quat_to_axis_angle(float axis[3], float *angle, const float q[4]);
00100 void mat3_to_axis_angle(float axis[3], float *angle, float M[3][3]);
00101 void mat4_to_axis_angle(float axis[3], float *angle, float M[4][4]);
00102 
00103 void single_axis_angle_to_mat3(float R[3][3], const char axis, const float angle);
00104 
00105 /****************************** Vector/Rotation ******************************/
00106 /* old axis angle code                                                       */
00107 /* TODO: the following calls should probably be depreceated sometime         */
00108 
00109 /* conversion */
00110 void vec_rot_to_quat(float quat[4], const float vec[3], const float phi);
00111 void vec_rot_to_mat3(float mat[3][3], const float vec[3], const float phi);
00112 void vec_rot_to_mat4(float mat[4][4], const float vec[3], const float phi);
00113 
00114 /******************************** XYZ Eulers *********************************/
00115 
00116 void eul_to_quat(float quat[4], const float eul[3]);
00117 void eul_to_mat3(float mat[3][3], const float eul[3]);
00118 void eul_to_mat4(float mat[4][4], const float eul[3]);
00119 
00120 void quat_to_eul(float eul[3], const float quat[4]);
00121 void mat3_to_eul(float eul[3], float mat[3][3]);
00122 void mat4_to_eul(float eul[3], float mat[4][4]);
00123 
00124 void compatible_eul(float eul[3], const float old[3]);
00125 void mat3_to_compatible_eul(float eul[3], const float old[3], float mat[3][3]);
00126 
00127 void rotate_eul(float eul[3], const char axis, const float angle);
00128 
00129 /************************** Arbitrary Order Eulers ***************************/
00130 
00131 /* warning: must match the eRotationModes in DNA_action_types.h
00132  * order matters - types are saved to file. */
00133 
00134 typedef enum eEulerRotationOrders {
00135     EULER_ORDER_DEFAULT = 1, /* blender classic = XYZ */
00136     EULER_ORDER_XYZ = 1,
00137     EULER_ORDER_XZY,
00138     EULER_ORDER_YXZ,
00139     EULER_ORDER_YZX,
00140     EULER_ORDER_ZXY,
00141     EULER_ORDER_ZYX
00142     /* there are 6 more entries with dulpicate entries included */
00143 } eEulerRotationOrders;
00144 
00145 void eulO_to_quat(float quat[4], const float eul[3], const short order);
00146 void eulO_to_mat3(float mat[3][3], const float eul[3], const short order);
00147 void eulO_to_mat4(float mat[4][4], const float eul[3], const short order);
00148 void eulO_to_axis_angle(float axis[3], float *angle, const float eul[3], const short order);
00149 void eulO_to_gimbal_axis(float gmat[3][3], const float eul[3], const short order);
00150  
00151 void quat_to_eulO(float eul[3], const short order, const float quat[4]);
00152 void mat3_to_eulO(float eul[3], const short order, float mat[3][3]);
00153 void mat4_to_eulO(float eul[3], const short order, float mat[4][4]);
00154 void axis_angle_to_eulO(float eul[3], const short order, const float axis[3], const float angle);
00155 
00156 void mat3_to_compatible_eulO(float eul[3], float old[3], short order, float mat[3][3]);
00157 void mat4_to_compatible_eulO(float eul[3], float old[3], short order, float mat[4][4]);
00158 
00159 void rotate_eulO(float eul[3], short order, char axis, float angle);
00160 
00161 /******************************* Dual Quaternions ****************************/
00162 
00163 typedef struct DualQuat {
00164     float quat[4];
00165     float trans[4];
00166 
00167     float scale[4][4];
00168     float scale_weight;
00169 } DualQuat;
00170 
00171 void copy_dq_dq(DualQuat *r, DualQuat *dq);
00172 void normalize_dq(DualQuat *dq, float totw);
00173 void add_weighted_dq_dq(DualQuat *r, DualQuat *dq, float weight);
00174 void mul_v3m3_dq(float r[3], float R[3][3], DualQuat *dq);
00175 
00176 void mat4_to_dquat(DualQuat *r, float base[4][4], float M[4][4]);
00177 void dquat_to_mat4(float R[4][4], DualQuat *dq);
00178 
00179 void quat_apply_track(float quat[4], short axis, short upflag);
00180 void vec_apply_track(float vec[3], short axis);
00181 
00182 float focallength_to_fov(float focal_length, float sensor);
00183 float fov_to_focallength(float fov, float sensor);
00184 
00185 float angle_wrap_rad(float angle);
00186 float angle_wrap_deg(float angle);
00187 
00188 #ifdef __cplusplus
00189 }
00190 #endif
00191 
00192 #endif /* BLI_MATH_ROTATION_H */
00193