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Math lib: add axis_angle_normalized_to_quat, use when length is known

This commit is contained in:
Campbell Barton 2014-02-01 21:32:34 +11:00
parent a9e7c7b848
commit 5fce3457b7
5 changed files with 17 additions and 13 deletions
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1
source/blender/blenlib/BLI_math_rotation.h
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@ -95,6 +95,7 @@ void print_qt(const char *str, const float q[4]);
/******************************** Axis Angle *********************************/
/* conversion */
void axis_angle_normalized_to_quat(float r[4], const float axis[3], const float angle);
void axis_angle_to_quat(float r[4], const float axis[3], const float angle);
void axis_angle_to_mat3(float R[3][3], const float axis[3], const float angle);
void axis_angle_normalized_to_mat3(float R[3][3], const float axis[3], const float angle);

19
source/blender/blenlib/intern/math_rotation.c
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@ -677,19 +677,22 @@ void print_qt(const char *str, const float q[4])
/******************************** Axis Angle *********************************/
/* Axis angle to Quaternions */
void axis_angle_normalized_to_quat(float q[4], const float axis[3], const float angle)
{
const float phi = 0.5f * angle;
const float si = sinf(phi);
const float co = cosf(phi);
BLI_ASSERT_UNIT_V3(axis);
q[0] = co;
mul_v3_v3fl(q + 1, axis, si);
}
void axis_angle_to_quat(float q[4], const float axis[3], const float angle)
{
float nor[3];
if (LIKELY(normalize_v3_v3(nor, axis) != 0.0f)) {
const float phi = angle / 2.0f;
float si;
si = sinf(phi);
q[0] = cosf(phi);
q[1] = nor[0] * si;
q[2] = nor[1] * si;
q[3] = nor[2] * si;
axis_angle_normalized_to_quat(q, nor, angle);
}
else {
unit_qt(q);

6
source/blender/editors/space_view3d/view3d_edit.c
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@ -834,7 +834,7 @@ static void viewrotate_apply(ViewOpsData *vod, int x, int y)
}
/* Perform the orbital rotation */
axis_angle_to_quat(q1, zvec_global, sensitivity * vod->reverse * (x - vod->oldx));
axis_angle_normalized_to_quat(q1, zvec_global, sensitivity * vod->reverse * (x - vod->oldx));
mul_qt_qtqt(vod->viewquat, vod->viewquat, q1);
if (vod->use_dyn_ofs) {
@ -3562,7 +3562,7 @@ static int vieworbit_exec(bContext *C, wmOperator *op)
}
/* z-axis */
axis_angle_to_quat(quat_mul, zvec, angle);
axis_angle_normalized_to_quat(quat_mul, zvec, angle);
}
else {
@ -3615,7 +3615,7 @@ static void view_roll_angle(ARegion *ar, float quat[4], const float orig_quat[4]
float quat_mul[4];
/* camera axis */
axis_angle_to_quat(quat_mul, dvec, angle);
axis_angle_normalized_to_quat(quat_mul, dvec, angle);
mul_qt_qtqt(quat, orig_quat, quat_mul);
rv3d->view = RV3D_VIEW_USER;

2
source/blender/editors/space_view3d/view3d_walk.c
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@ -973,7 +973,7 @@ static int walkApply(bContext *C, WalkInfo *walk)
copy_v3_fl3(upvec, 0.0f, 0.0f, 1.0f);
/* Rotate about the relative up vec */
axis_angle_to_quat(tmp_quat, upvec, x);
axis_angle_normalized_to_quat(tmp_quat, upvec, x);
mul_qt_qtqt(rv3d->viewquat, rv3d->viewquat, tmp_quat);
}
}

2
source/blender/editors/transform/transform_manipulator.c
View File

@ -162,7 +162,7 @@ static void stats_editbone(RegionView3D *rv3d, EditBone *ebo)
}
/* could move into BLI_math however this is only useful for display/editing purposes */
static void axis_angle_to_gimbal_axis(float gmat[3][3], float axis[3], float angle)
static void axis_angle_to_gimbal_axis(float gmat[3][3], const float axis[3], const float angle)
{
/* X/Y are arbitrary axies, most importantly Z is the axis of rotation */