Xylvier/blender
0
0
Fork 0
forked from blender/blender
Code Pull Requests Activity

main sync #3

Merged
Patrick Busch merged 318 commits from blender/blender:main into main 2023-03-17 15:52:21 +01:00
Conversation 0 Commits 318 Files Changed 1069 +461 -512
10 changed files with 461 additions and 512 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files
Showing only changes of commit 4805a54525 - Show all commits

138
source/blender/blenlib/BLI_math_angle_types.hh
View File

@ -19,33 +19,31 @@
namespace blender::math {
namespace detail {
/**
* A `blender::math::AngleRadian<T>` is a typical radian angle.
* A `blender::math::AngleRadianBase<T>` is a typical radian angle.
* - Storage : `1 * sizeof(T)`
* - Range : [-inf..inf]
* - Fast : Everything not slow.
* - Slow : `cos()`, `sin()`, `tan()`, `AngleRadian(cos, sin)`
*/
template<typename T> struct AngleRadian {
template<typename T> struct AngleRadianBase {
private:
T value_;
public:
AngleRadian() = default;
AngleRadianBase() = default;
AngleRadian(const T &radian) : value_(radian){};
explicit AngleRadian(const T &cos, const T &sin) : value_(math::atan2(sin, cos)){};
AngleRadianBase(const T &radian) : value_(radian){};
explicit AngleRadianBase(const T &cos, const T &sin) : value_(math::atan2(sin, cos)){};
/** Static functions. */
static AngleRadian identity()
static AngleRadianBase identity()
{
return 0;
}
static AngleRadian from_degree(const T &degrees)
static AngleRadianBase from_degree(const T &degrees)
{
return degrees * T(M_PI / 180.0);
}
@ -81,7 +79,7 @@ template<typename T> struct AngleRadian {
/**
* Return the angle wrapped inside [-pi..pi] interval. Basically `(angle + pi) % 2pi - pi`.
*/
AngleRadian wrapped() const
AngleRadianBase wrapped() const
{
return math::mod_periodic(value_ + T(M_PI), T(2 * M_PI)) - T(M_PI);
}
@ -92,80 +90,80 @@ template<typename T> struct AngleRadian {
* This means the interpolation between the returned value and \a reference will always take the
* shortest path.
*/
AngleRadian wrapped_around(const AngleRadian &reference) const
AngleRadianBase wrapped_around(const AngleRadianBase &reference) const
{
return reference + (*this - reference).wrapped();
}
/** Operators. */
friend AngleRadian operator+(const AngleRadian &a, const AngleRadian &b)
friend AngleRadianBase operator+(const AngleRadianBase &a, const AngleRadianBase &b)
{
return a.value_ + b.value_;
}
friend AngleRadian operator-(const AngleRadian &a, const AngleRadian &b)
friend AngleRadianBase operator-(const AngleRadianBase &a, const AngleRadianBase &b)
{
return a.value_ - b.value_;
}
friend AngleRadian operator*(const AngleRadian &a, const AngleRadian &b)
friend AngleRadianBase operator*(const AngleRadianBase &a, const AngleRadianBase &b)
{
return a.value_ * b.value_;
}
friend AngleRadian operator/(const AngleRadian &a, const AngleRadian &b)
friend AngleRadianBase operator/(const AngleRadianBase &a, const AngleRadianBase &b)
{
return a.value_ / b.value_;
}
friend AngleRadian operator-(const AngleRadian &a)
friend AngleRadianBase operator-(const AngleRadianBase &a)
{
return -a.value_;
}
AngleRadian &operator+=(const AngleRadian &b)
AngleRadianBase &operator+=(const AngleRadianBase &b)
{
value_ += b.value_;
return *this;
}
AngleRadian &operator-=(const AngleRadian &b)
AngleRadianBase &operator-=(const AngleRadianBase &b)
{
value_ -= b.value_;
return *this;
}
AngleRadian &operator*=(const AngleRadian &b)
AngleRadianBase &operator*=(const AngleRadianBase &b)
{
value_ *= b.value_;
return *this;
}
AngleRadian &operator/=(const AngleRadian &b)
AngleRadianBase &operator/=(const AngleRadianBase &b)
{
value_ /= b.value_;
return *this;
}
friend bool operator==(const AngleRadian &a, const AngleRadian &b)
friend bool operator==(const AngleRadianBase &a, const AngleRadianBase &b)
{
return a.value_ == b.value_;
}
friend bool operator!=(const AngleRadian &a, const AngleRadian &b)
friend bool operator!=(const AngleRadianBase &a, const AngleRadianBase &b)
{
return !(a == b);
}
friend std::ostream &operator<<(std::ostream &stream, const AngleRadian &rot)
friend std::ostream &operator<<(std::ostream &stream, const AngleRadianBase &rot)
{
return stream << "AngleRadian(" << rot.value_ << ")";
}
};
/**
* A `blender::math::AngleCartesian<T>` stores the angle as cosine + sine tuple.
* A `blender::math::AngleCartesianBase<T>` stores the angle as cosine + sine tuple.
* - Storage : `2 * sizeof(T)`
* - Range : [-pi..pi]
* - Fast : `cos()`, `sin()`, `tan()`, `AngleCartesian(cos, sin)`
@ -175,18 +173,18 @@ template<typename T> struct AngleRadian {
* advantage when trigonometric values of an angle are required but not directly the angle itself.
* It is also a nice shortcut for using the trigonometric identities.
*/
template<typename T> struct AngleCartesian {
template<typename T> struct AngleCartesianBase {
private:
T cos_;
T sin_;
public:
AngleCartesian() = default;
AngleCartesianBase() = default;
/**
* Create an angle from a (x, y) position on the unit circle.
*/
AngleCartesian(const T &x, const T &y) : cos_(x), sin_(y)
AngleCartesianBase(const T &x, const T &y) : cos_(x), sin_(y)
{
BLI_assert(math::abs(x * x + y * y - T(1)) < T(1e-4));
}
@ -194,34 +192,34 @@ template<typename T> struct AngleCartesian {
/**
* Create an angle from a radian value.
*/
explicit AngleCartesian(const T &radian)
: AngleCartesian(math::cos(radian), math::sin(radian)){};
explicit AngleCartesian(const AngleRadian<T> &angle)
: AngleCartesian(math::cos(angle.radian()), math::sin(angle.radian())){};
explicit AngleCartesianBase(const T &radian)
: AngleCartesianBase(math::cos(radian), math::sin(radian)){};
explicit AngleCartesianBase(const AngleRadianBase<T> &angle)
: AngleCartesianBase(math::cos(angle.radian()), math::sin(angle.radian())){};
/** Static functions. */
static AngleCartesian identity()
static AngleCartesianBase identity()
{
return {1, 0};
}
static AngleCartesian from_degree(const T &degrees)
static AngleCartesianBase from_degree(const T &degrees)
{
return AngleCartesian(degrees * T(M_PI / 180.0));
return AngleCartesianBase(degrees * T(M_PI / 180.0));
}
/**
* Create an angle from a (x, y) position on the 2D plane.
* Fallback to identity if (x, y) is origin (0, 0).
*/
static AngleCartesian from_point(const T &x, const T &y)
static AngleCartesianBase from_point(const T &x, const T &y)
{
T norm = math::sqrt(x * x + y * y);
if (norm == 0) {
return identity();
}
return AngleCartesian(x / norm, y / norm);
return AngleCartesianBase(x / norm, y / norm);
}
/** Conversions. */
@ -273,17 +271,17 @@ template<typename T> struct AngleCartesian {
* purpose of this class).
*/
friend AngleCartesian operator+(const AngleCartesian &a, const AngleCartesian &b)
friend AngleCartesianBase operator+(const AngleCartesianBase &a, const AngleCartesianBase &b)
{
return {a.cos_ * b.cos_ - a.sin_ * b.sin_, a.sin_ * b.cos_ + a.cos_ * b.sin_};
}
friend AngleCartesian operator-(const AngleCartesian &a, const AngleCartesian &b)
friend AngleCartesianBase operator-(const AngleCartesianBase &a, const AngleCartesianBase &b)
{
return {a.cos_ * b.cos_ + a.sin_ * b.sin_, a.sin_ * b.cos_ - a.cos_ * b.sin_};
}
friend AngleCartesian operator*(const AngleCartesian &a, const T &b)
friend AngleCartesianBase operator*(const AngleCartesianBase &a, const T &b)
{
if (b == T(2)) {
return {a.cos_ * a.cos_ - a.sin_ * a.sin_, T(2) * a.sin_ * a.cos_};
@ -293,24 +291,24 @@ template<typename T> struct AngleCartesian {
T(3) * a.sin_ - T(4) * (a.sin_ * a.sin_ * a.sin_)};
}
BLI_assert_msg(0,
"Arbitrary angle product isn't supported with AngleCartesian<T> for "
"performance reason. Use AngleRadian<T> instead.");
"Arbitrary angle product isn't supported with AngleCartesianBase<T> for "
"performance reason. Use AngleRadianBase<T> instead.");
return identity();
}
friend AngleCartesian operator*(const T &b, const AngleCartesian &a)
friend AngleCartesianBase operator*(const T &b, const AngleCartesianBase &a)
{
return a * b;
}
friend AngleCartesian operator/(const AngleCartesian &a, const T &divisor)
friend AngleCartesianBase operator/(const AngleCartesianBase &a, const T &divisor)
{
if (divisor == T(2)) {
/* Still costly but faster than using `atan()`. */
AngleCartesian result = {math::sqrt((T(1) + a.cos_) / T(2)),
AngleCartesianBase result = {math::sqrt((T(1) + a.cos_) / T(2)),
math::sqrt((T(1) - a.cos_) / T(2))};
/* Recover sign only for sine. Cosine of half angle is given to be positive or 0 since the
* angle stored in #AngleCartesian is in the range [-pi..pi]. */
* angle stored in #AngleCartesianBase is in the range [-pi..pi]. */
/* TODO(fclem): Could use copysign here. */
if (a.sin_ < T(0)) {
result.sin_ = -result.sin_;
@ -318,58 +316,56 @@ template<typename T> struct AngleCartesian {
return result;
}
BLI_assert_msg(0,
"Arbitrary angle quotient isn't supported with AngleCartesian<T> for "
"performance reason. Use AngleRadian<T> instead.");
"Arbitrary angle quotient isn't supported with AngleCartesianBase<T> for "
"performance reason. Use AngleRadianBase<T> instead.");
return identity();
}
friend AngleCartesian operator-(const AngleCartesian &a)
friend AngleCartesianBase operator-(const AngleCartesianBase &a)
{
return {a.cos_, -a.sin_};
}
AngleCartesian &operator+=(const AngleCartesian &b)
AngleCartesianBase &operator+=(const AngleCartesianBase &b)
{
*this = *this + b;
return *this;
}
AngleCartesian &operator*=(const T &b)
AngleCartesianBase &operator*=(const T &b)
{
*this = *this * b;
return *this;
}
AngleCartesian &operator-=(const AngleCartesian &b)
AngleCartesianBase &operator-=(const AngleCartesianBase &b)
{
*this = *this - b;
return *this;
}
AngleCartesian &operator/=(const T &b)
AngleCartesianBase &operator/=(const T &b)
{
*this = *this / b;
return *this;
}
friend bool operator==(const AngleCartesian &a, const AngleCartesian &b)
friend bool operator==(const AngleCartesianBase &a, const AngleCartesianBase &b)
{
return a.cos_ == b.cos_ && a.sin_ == b.sin_;
}
friend bool operator!=(const AngleCartesian &a, const AngleCartesian &b)
friend bool operator!=(const AngleCartesianBase &a, const AngleCartesianBase &b)
{
return !(a == b);
}
friend std::ostream &operator<<(std::ostream &stream, const AngleCartesian &rot)
friend std::ostream &operator<<(std::ostream &stream, const AngleCartesianBase &rot)
{
return stream << "AngleCartesian(x=" << rot.cos_ << ", y=" << rot.sin_ << ")";
}
};
} // namespace detail
/**
* A `blender::math::AngleFraction<T>` stores a radian angle as quotient.
* - Storage : `2 * sizeof(int64_t)`
@ -385,7 +381,7 @@ template<typename T> struct AngleCartesian {
* not as cheap as a `AngleRadian`. Another nice property is that the `cos()` and `sin()` functions
* give symmetric results around the circle.
*
* NOTE: Prefer converting to `blender::math::AngleCartesian<T>` if both `cos()` and `sin()`
* NOTE: Prefer converting to `blender::math::AngleCartesianBase<T>` if both `cos()` and `sin()`
* are needed. This will save some computation.
*
* Any operation becomes undefined if either the numerator or the denominator overflows.
@ -611,7 +607,7 @@ template<typename T = float> struct AngleFraction {
<< ")";
}
operator detail::AngleCartesian<T>() const
operator AngleCartesianBase<T>() const
{
AngleFraction a = this->wrapped();
BLI_assert(abs(a.numerator_) <= a.denominator_);
@ -698,51 +694,51 @@ template<typename T = float> struct AngleFraction {
if (is_negative) {
y = -y;
}
return detail::AngleCartesian<T>(x, y);
return AngleCartesianBase<T>(x, y);
}
};
template<typename T> T cos(const detail::AngleRadian<T> &a)
template<typename T> T cos(const AngleRadianBase<T> &a)
{
return cos(a.radian());
}
template<typename T> T sin(const detail::AngleRadian<T> &a)
template<typename T> T sin(const AngleRadianBase<T> &a)
{
return sin(a.radian());
}
template<typename T> T tan(const detail::AngleRadian<T> &a)
template<typename T> T tan(const AngleRadianBase<T> &a)
{
return tan(a.radian());
}
template<typename T> T cos(const detail::AngleCartesian<T> &a)
template<typename T> T cos(const AngleCartesianBase<T> &a)
{
return a.cos();
}
template<typename T> T sin(const detail::AngleCartesian<T> &a)
template<typename T> T sin(const AngleCartesianBase<T> &a)
{
return a.sin();
}
template<typename T> T tan(const detail::AngleCartesian<T> &a)
template<typename T> T tan(const AngleCartesianBase<T> &a)
{
return a.tan();
}
template<typename T> T cos(const AngleFraction<T> &a)
{
return cos(detail::AngleCartesian<T>(a));
return cos(AngleCartesianBase<T>(a));
}
template<typename T> T sin(const AngleFraction<T> &a)
{
return sin(detail::AngleCartesian<T>(a));
return sin(AngleCartesianBase<T>(a));
}
template<typename T> T tan(const AngleFraction<T> &a)
{
return tan(detail::AngleCartesian<T>(a));
return tan(AngleCartesianBase<T>(a));
}
using AngleRadian = math::detail::AngleRadian<float>;
using AngleCartesian = math::detail::AngleCartesian<float>;
using AngleRadian = AngleRadianBase<float>;
using AngleCartesian = AngleCartesianBase<float>;
} // namespace blender::math

26
source/blender/blenlib/BLI_math_axis_angle.hh
View File

@ -13,14 +13,14 @@
#include "BLI_math_matrix.hh"
#include "BLI_math_quaternion.hh"
namespace blender::math::detail {
namespace blender::math {
/* -------------------------------------------------------------------- */
/** \name Constructors
* \{ */
template<typename T, typename AngleT>
AxisAngle<T, AngleT>::AxisAngle(const VecBase<T, 3> &axis, const AngleT &angle)
AxisAngleBase<T, AngleT>::AxisAngleBase(const VecBase<T, 3> &axis, const AngleT &angle)
{
BLI_assert(is_unit_scale(axis));
axis_ = axis;
@ -28,14 +28,14 @@ AxisAngle<T, AngleT>::AxisAngle(const VecBase<T, 3> &axis, const AngleT &angle)
}
template<typename T, typename AngleT>
AxisAngle<T, AngleT>::AxisAngle(const AxisSigned axis, const AngleT &angle)
AxisAngleBase<T, AngleT>::AxisAngleBase(const AxisSigned axis, const AngleT &angle)
{
axis_ = to_vector<VecBase<T, 3>>(axis);
angle_ = angle;
}
template<typename T, typename AngleT>
AxisAngle<T, AngleT>::AxisAngle(const VecBase<T, 3> &from, const VecBase<T, 3> &to)
AxisAngleBase<T, AngleT>::AxisAngleBase(const VecBase<T, 3> &from, const VecBase<T, 3> &to)
{
BLI_assert(is_unit_scale(from));
BLI_assert(is_unit_scale(to));
@ -61,16 +61,12 @@ AxisAngle<T, AngleT>::AxisAngle(const VecBase<T, 3> &from, const VecBase<T, 3> &
/** \} */
} // namespace blender::math::detail
namespace blender::math {
/* -------------------------------------------------------------------- */
/** \name Conversion to Quaternions
* \{ */
template<typename T, typename AngleT>
detail::Quaternion<T> to_quaternion(const detail::AxisAngle<T, AngleT> &axis_angle)
QuaternionBase<T> to_quaternion(const AxisAngleBase<T, AngleT> &axis_angle)
{
BLI_assert(math::is_unit_scale(axis_angle.axis()));
@ -79,7 +75,7 @@ detail::Quaternion<T> to_quaternion(const detail::AxisAngle<T, AngleT> &axis_ang
T hc = math::cos(half_angle);
VecBase<T, 3> xyz = axis_angle.axis() * hs;
return detail::Quaternion<T>(hc, xyz.x, xyz.y, xyz.z);
return QuaternionBase<T>(hc, xyz.x, xyz.y, xyz.z);
}
/** \} */
@ -89,25 +85,25 @@ detail::Quaternion<T> to_quaternion(const detail::AxisAngle<T, AngleT> &axis_ang
* \{ */
template<typename T, typename AngleT>
detail::Euler3<T> to_euler(const detail::AxisAngle<T, AngleT> &axis_angle, EulerOrder order)
Euler3Base<T> to_euler(const AxisAngleBase<T, AngleT> &axis_angle, EulerOrder order)
{
/* Use quaternions as intermediate representation for now... */
return to_euler(to_quaternion(axis_angle), order);
}
template<typename T, typename AngleT>
detail::EulerXYZ<T> to_euler(const detail::AxisAngle<T, AngleT> &axis_angle)
EulerXYZBase<T> to_euler(const AxisAngleBase<T, AngleT> &axis_angle)
{
/* Check easy and exact conversions first. */
const VecBase<T, 3> axis = axis_angle.axis();
if (axis.x == T(1)) {
return detail::EulerXYZ<T>(T(axis_angle.angle()), T(0), T(0));
return EulerXYZBase<T>(T(axis_angle.angle()), T(0), T(0));
}
else if (axis.y == T(1)) {
return detail::EulerXYZ<T>(T(0), T(axis_angle.angle()), T(0));
return EulerXYZBase<T>(T(0), T(axis_angle.angle()), T(0));
}
else if (axis.z == T(1)) {
return detail::EulerXYZ<T>(T(0), T(0), T(axis_angle.angle()));
return EulerXYZBase<T>(T(0), T(0), T(axis_angle.angle()));
}
/* Use quaternions as intermediate representation for now... */
return to_euler(to_quaternion(axis_angle));

30
source/blender/blenlib/BLI_math_axis_angle_types.hh
View File

@ -14,8 +14,8 @@
* 2D operations and are thus faster.
*
* Interpolation isn't possible between two `blender::math::AxisAngle<T>`; they must be
* converted to other rotation types for that. Converting to `blender::math::Quaternion<T>` is the
* fastest and more correct option.
* converted to other rotation types for that. Converting to `blender::math::QuaternionBase<T>` is
* the fastest and more correct option.
*/
#include "BLI_math_angle_types.hh"
@ -25,9 +25,7 @@
namespace blender::math {
namespace detail {
template<typename T, typename AngleT> struct AxisAngle {
template<typename T, typename AngleT> struct AxisAngleBase {
using vec3_type = VecBase<T, 3>;
private:
@ -36,29 +34,29 @@ template<typename T, typename AngleT> struct AxisAngle {
AngleT angle_ = AngleT::identity();
public:
AxisAngle() = default;
AxisAngleBase() = default;
/**
* Create a rotation from a basis axis and an angle.
*/
AxisAngle(const AxisSigned axis, const AngleT &angle);
AxisAngleBase(const AxisSigned axis, const AngleT &angle);
/**
* Create a rotation from an axis and an angle.
* \note `axis` have to be normalized.
*/
AxisAngle(const vec3_type &axis, const AngleT &angle);
AxisAngleBase(const vec3_type &axis, const AngleT &angle);
/**
* Create a rotation from 2 normalized vectors.
* \note `from` and `to` must be normalized.
* \note Consider using `AxisAngleCartesian` for faster conversion to other rotation.
*/
AxisAngle(const vec3_type &from, const vec3_type &to);
AxisAngleBase(const vec3_type &from, const vec3_type &to);
/** Static functions. */
static AxisAngle identity()
static AxisAngleBase identity()
{
return {};
}
@ -77,26 +75,24 @@ template<typename T, typename AngleT> struct AxisAngle {
/** Operators. */
friend bool operator==(const AxisAngle &a, const AxisAngle &b)
friend bool operator==(const AxisAngleBase &a, const AxisAngleBase &b)
{
return (a.axis() == b.axis()) && (a.angle() == b.angle());
}
friend bool operator!=(const AxisAngle &a, const AxisAngle &b)
friend bool operator!=(const AxisAngleBase &a, const AxisAngleBase &b)
{
return (a != b);
}
friend std::ostream &operator<<(std::ostream &stream, const AxisAngle &rot)
friend std::ostream &operator<<(std::ostream &stream, const AxisAngleBase &rot)
{
return stream << "AxisAngle(axis=" << rot.axis() << ", angle=" << rot.angle() << ")";
}
};
}; // namespace detail
using AxisAngle = math::detail::AxisAngle<float, detail::AngleRadian<float>>;
using AxisAngleCartesian = math::detail::AxisAngle<float, detail::AngleCartesian<float>>;
using AxisAngle = AxisAngleBase<float, AngleRadianBase<float>>;
using AxisAngleCartesian = AxisAngleBase<float, AngleCartesianBase<float>>;
} // namespace blender::math

43
source/blender/blenlib/BLI_math_euler.hh
View File

@ -14,43 +14,40 @@
#include "BLI_math_matrix.hh"
#include "BLI_math_quaternion.hh"
namespace blender::math::detail {
namespace blender::math {
/* -------------------------------------------------------------------- */
/** \name EulerXYZ
* \{ */
template<typename T> EulerXYZ<T> EulerXYZ<T>::wrapped() const
template<typename T> EulerXYZBase<T> EulerXYZBase<T>::wrapped() const
{
EulerXYZ<T> result(*this);
result.x() = AngleRadian<T>(result.x()).wrapped().radian();
result.y() = AngleRadian<T>(result.y()).wrapped().radian();
result.z() = AngleRadian<T>(result.z()).wrapped().radian();
EulerXYZBase<T> result(*this);
result.x() = AngleRadianBase<T>(result.x()).wrapped().radian();
result.y() = AngleRadianBase<T>(result.y()).wrapped().radian();
result.z() = AngleRadianBase<T>(result.z()).wrapped().radian();
return result;
}
template<typename T> EulerXYZ<T> EulerXYZ<T>::wrapped_around(const EulerXYZ &reference) const
template<typename T>
EulerXYZBase<T> EulerXYZBase<T>::wrapped_around(const EulerXYZBase &reference) const
{
EulerXYZ<T> result(*this);
result.x() = AngleRadian<T>(result.x()).wrapped_around(reference.x()).radian();
result.y() = AngleRadian<T>(result.y()).wrapped_around(reference.y()).radian();
result.z() = AngleRadian<T>(result.z()).wrapped_around(reference.z()).radian();
EulerXYZBase<T> result(*this);
result.x() = AngleRadianBase<T>(result.x()).wrapped_around(reference.x()).radian();
result.y() = AngleRadianBase<T>(result.y()).wrapped_around(reference.y()).radian();
result.z() = AngleRadianBase<T>(result.z()).wrapped_around(reference.z()).radian();
return result;
}
/** \} */
} // namespace blender::math::detail
namespace blender::math {
/* -------------------------------------------------------------------- */
/** \name Conversion to Quaternions
* \{ */
template<typename T> detail::Quaternion<T> to_quaternion(const detail::EulerXYZ<T> &eul)
template<typename T> QuaternionBase<T> to_quaternion(const EulerXYZBase<T> &eul)
{
using AngleT = typename detail::EulerXYZ<T>::AngleT;
using AngleT = typename EulerXYZBase<T>::AngleT;
const AngleT h_angle_i = eul.x() / 2;
const AngleT h_angle_j = eul.y() / 2;
const AngleT h_angle_k = eul.z() / 2;
@ -65,7 +62,7 @@ template<typename T> detail::Quaternion<T> to_quaternion(const detail::EulerXYZ<
const T sin_cos = sin_i * cos_k;
const T sin_sin = sin_i * sin_k;
detail::Quaternion<T> quat;
QuaternionBase<T> quat;
quat.w = cos_j * cos_cos + sin_j * sin_sin;
quat.x = cos_j * sin_cos - sin_j * cos_sin;
quat.y = cos_j * sin_sin + sin_j * cos_cos;
@ -73,14 +70,14 @@ template<typename T> detail::Quaternion<T> to_quaternion(const detail::EulerXYZ<
return quat;
}
template<typename T> detail::Quaternion<T> to_quaternion(const detail::Euler3<T> &eulO)
template<typename T> QuaternionBase<T> to_quaternion(const Euler3Base<T> &eulO)
{
/* Swizzle to XYZ. */
detail::EulerXYZ<T> eul_xyz{eulO.ijk()};
EulerXYZBase<T> eul_xyz{eulO.ijk()};
/* Flip with parity. */
eul_xyz.y() = eulO.parity() ? -eul_xyz.y() : eul_xyz.y();
/* Quaternion conversion. */
detail::Quaternion<T> quat = to_quaternion(eul_xyz);
QuaternionBase<T> quat = to_quaternion(eul_xyz);
/* Swizzle back from XYZ. */
VecBase<T, 3> quat_xyz;
quat_xyz[eulO.i_index()] = quat.x;
@ -97,14 +94,14 @@ template<typename T> detail::Quaternion<T> to_quaternion(const detail::Euler3<T>
* \{ */
template<typename T, typename AngleT = AngleRadian>
detail::AxisAngle<T, AngleT> to_axis_angle(const detail::EulerXYZ<T> &euler)
AxisAngleBase<T, AngleT> to_axis_angle(const EulerXYZBase<T> &euler)
{
/* Use quaternions as intermediate representation for now... */
return to_axis_angle<T, AngleT>(to_quaternion(euler));
}
template<typename T, typename AngleT = AngleRadian>
detail::AxisAngle<T, AngleT> to_axis_angle(const detail::Euler3<T> &euler)
AxisAngleBase<T, AngleT> to_axis_angle(const Euler3Base<T> &euler)
{
/* Use quaternions as intermediate representation for now... */
return to_axis_angle<T, AngleT>(to_quaternion(euler));

69
source/blender/blenlib/BLI_math_euler_types.hh
View File

@ -43,14 +43,12 @@ enum EulerOrder {
std::ostream &operator<<(std::ostream &stream, EulerOrder order);
namespace detail {
/* -------------------------------------------------------------------- */
/** \name EulerBase
* \{ */
template<typename T> struct EulerBase {
using AngleT = AngleRadian<T>;
using AngleT = AngleRadianBase<T>;
protected:
/**
@ -130,24 +128,24 @@ template<typename T> struct EulerBase {
/** \name EulerXYZ
* \{ */
template<typename T> struct EulerXYZ : public EulerBase<T> {
using AngleT = AngleRadian<T>;
template<typename T> struct EulerXYZBase : public EulerBase<T> {
using AngleT = AngleRadianBase<T>;
public:
EulerXYZ() = default;
EulerXYZBase() = default;
/**
* Create an euler x,y,z rotation from a triple of radian angle.
*/
template<typename AngleU> EulerXYZ(const VecBase<AngleU, 3> &vec) : EulerBase<T>(vec){};
template<typename AngleU> EulerXYZBase(const VecBase<AngleU, 3> &vec) : EulerBase<T>(vec){};
EulerXYZ(const AngleT &x, const AngleT &y, const AngleT &z) : EulerBase<T>(x, y, z){};
EulerXYZBase(const AngleT &x, const AngleT &y, const AngleT &z) : EulerBase<T>(x, y, z){};
/**
* Create a rotation from an basis axis and an angle.
* This sets a single component of the euler triple, the others are left to 0.
*/
EulerXYZ(const Axis axis, const AngleT &angle)
EulerXYZBase(const Axis axis, const AngleT &angle)
{
*this = identity();
this->xyz_[axis] = angle;
@ -155,9 +153,11 @@ template<typename T> struct EulerXYZ : public EulerBase<T> {
/** Static functions. */
static EulerXYZ identity()
static EulerXYZBase identity()
{
return {AngleRadian<T>::identity(), AngleRadian<T>::identity(), AngleRadian<T>::identity()};
return {AngleRadianBase<T>::identity(),
AngleRadianBase<T>::identity(),
AngleRadianBase<T>::identity()};
}
/** Methods. */
@ -165,7 +165,7 @@ template<typename T> struct EulerXYZ : public EulerBase<T> {
/**
* Return this euler orientation but with angles wrapped inside [-pi..pi] range.
*/
EulerXYZ wrapped() const;
EulerXYZBase wrapped() const;
/**
* Return this euler orientation but wrapped around \a reference.
@ -173,21 +173,21 @@ template<typename T> struct EulerXYZ : public EulerBase<T> {
* This means the interpolation between the returned value and \a reference will always take the
* shortest path. The angle between them will not be more than pi.
*/
EulerXYZ wrapped_around(const EulerXYZ &reference) const;
EulerXYZBase wrapped_around(const EulerXYZBase &reference) const;
/** Operators. */
friend EulerXYZ operator-(const EulerXYZ &a)
friend EulerXYZBase operator-(const EulerXYZBase &a)
{
return {-a.xyz_.x, -a.xyz_.y, -a.xyz_.z};
}
friend bool operator==(const EulerXYZ &a, const EulerXYZ &b)
friend bool operator==(const EulerXYZBase &a, const EulerXYZBase &b)
{
return a.xyz_ == b.xyz_;
}
friend std::ostream &operator<<(std::ostream &stream, const EulerXYZ &rot)
friend std::ostream &operator<<(std::ostream &stream, const EulerXYZBase &rot)
{
return stream << "EulerXYZ" << static_cast<VecBase<T, 3>>(rot);
}
@ -199,8 +199,8 @@ template<typename T> struct EulerXYZ : public EulerBase<T> {
/** \name Euler3
* \{ */
template<typename T> struct Euler3 : public EulerBase<T> {
using AngleT = AngleRadian<T>;
template<typename T> struct Euler3Base : public EulerBase<T> {
using AngleT = AngleRadianBase<T>;
private:
/** Axes order from applying the rotation. */
@ -211,12 +211,12 @@ template<typename T> struct Euler3 : public EulerBase<T> {
*/
class Swizzle {
private:
Euler3 &eul_;
Euler3Base &eul_;
public:
explicit Swizzle(Euler3 &eul) : eul_(eul){};
explicit Swizzle(Euler3Base &eul) : eul_(eul){};
Euler3 &operator=(const VecBase<AngleT, 3> &angles)
Euler3Base &operator=(const VecBase<AngleT, 3> &angles)
{
eul_.xyz_.x = angles[eul_.i_index()];
eul_.xyz_.y = angles[eul_.j_index()];
@ -236,7 +236,7 @@ template<typename T> struct Euler3 : public EulerBase<T> {
};
public:
Euler3() = delete;
Euler3Base() = delete;
/**
* Create an euler rotation with \a order rotation ordering
@ -244,16 +244,16 @@ template<typename T> struct Euler3 : public EulerBase<T> {
* eg: If \a order is `EulerOrder::ZXY` then `angles.z` will be the angle of the first rotation.
*/
template<typename AngleU>
Euler3(const VecBase<AngleU, 3> &angles_xyz, EulerOrder order)
Euler3Base(const VecBase<AngleU, 3> &angles_xyz, EulerOrder order)
: EulerBase<T>(angles_xyz), order_(order){};
Euler3(const AngleT &x, const AngleT &y, const AngleT &z, EulerOrder order)
Euler3Base(const AngleT &x, const AngleT &y, const AngleT &z, EulerOrder order)
: EulerBase<T>(x, y, z), order_(order){};
/**
* Create a rotation around a single euler axis and an angle.
*/
Euler3(const Axis axis, AngleT angle, EulerOrder order) : EulerBase<T>(), order_(order)
Euler3Base(const Axis axis, AngleT angle, EulerOrder order) : EulerBase<T>(), order_(order)
{
this->xyz_[axis] = angle;
}
@ -262,7 +262,7 @@ template<typename T> struct Euler3 : public EulerBase<T> {
* Defines rotation order but not the rotation values.
* Used for conversion from other rotation types.
*/
Euler3(EulerOrder order) : order_(order){};
Euler3Base(EulerOrder order) : order_(order){};
/** Methods. */
@ -319,24 +319,25 @@ template<typename T> struct Euler3 : public EulerBase<T> {
* This means the interpolation between the returned value and \a reference will always take the
* shortest path. The angle between them will not be more than pi.
*/
Euler3 wrapped_around(const Euler3 &reference) const
Euler3Base wrapped_around(const Euler3Base &reference) const
{
return {VecBase<AngleT, 3>(EulerXYZ<T>(this->xyz_).wrapped_around(reference.xyz_)), order_};
return {VecBase<AngleT, 3>(EulerXYZBase<T>(this->xyz_).wrapped_around(reference.xyz_)),
order_};
}
/** Operators. */
friend Euler3 operator-(const Euler3 &a)
friend Euler3Base operator-(const Euler3Base &a)
{
return {-a.xyz_, a.order_};
}
friend bool operator==(const Euler3 &a, const Euler3 &b)
friend bool operator==(const Euler3Base &a, const Euler3Base &b)
{
return a.xyz_ == b.xyz_ && a.order_ == b.order_;
}
friend std::ostream &operator<<(std::ostream &stream, const Euler3 &rot)
friend std::ostream &operator<<(std::ostream &stream, const Euler3Base &rot)
{
return stream << "Euler3_" << rot.order_ << rot.xyz_;
}
@ -432,10 +433,8 @@ template<typename T> struct Euler3 : public EulerBase<T> {
/** \} */
} // namespace detail
using EulerXYZ = math::detail::EulerXYZ<float>;
using Euler3 = math::detail::Euler3<float>;
using EulerXYZ = EulerXYZBase<float>;
using Euler3 = Euler3Base<float>;
} // namespace blender::math

161
source/blender/blenlib/BLI_math_matrix.hh
View File

@ -256,14 +256,12 @@ template<typename MatT, typename VectorT>
* Extract euler rotation from transform matrix.
* \return the rotation with the smallest values from the potential candidates.
*/
template<typename T> [[nodiscard]] inline EulerXYZBase<T> to_euler(const MatBase<T, 3, 3> &mat);
template<typename T> [[nodiscard]] inline EulerXYZBase<T> to_euler(const MatBase<T, 4, 4> &mat);
template<typename T>
[[nodiscard]] inline detail::EulerXYZ<T> to_euler(const MatBase<T, 3, 3> &mat);
[[nodiscard]] inline Euler3Base<T> to_euler(const MatBase<T, 3, 3> &mat, EulerOrder order);
template<typename T>
[[nodiscard]] inline detail::EulerXYZ<T> to_euler(const MatBase<T, 4, 4> &mat);
template<typename T>
[[nodiscard]] inline detail::Euler3<T> to_euler(const MatBase<T, 3, 3> &mat, EulerOrder order);
template<typename T>
[[nodiscard]] inline detail::Euler3<T> to_euler(const MatBase<T, 4, 4> &mat, EulerOrder order);
[[nodiscard]] inline Euler3Base<T> to_euler(const MatBase<T, 4, 4> &mat, EulerOrder order);
/**
* Extract euler rotation from transform matrix.
@ -273,25 +271,25 @@ template<typename T>
* \note this correspond to the C API "to_compatible" functions.
*/
template<typename T>
[[nodiscard]] inline detail::EulerXYZ<T> to_nearest_euler(const MatBase<T, 3, 3> &mat,
const detail::EulerXYZ<T> &reference);
[[nodiscard]] inline EulerXYZBase<T> to_nearest_euler(const MatBase<T, 3, 3> &mat,
const EulerXYZBase<T> &reference);
template<typename T>
[[nodiscard]] inline detail::EulerXYZ<T> to_nearest_euler(const MatBase<T, 4, 4> &mat,
const detail::EulerXYZ<T> &reference);
[[nodiscard]] inline EulerXYZBase<T> to_nearest_euler(const MatBase<T, 4, 4> &mat,
const EulerXYZBase<T> &reference);
template<typename T>
[[nodiscard]] inline detail::Euler3<T> to_nearest_euler(const MatBase<T, 3, 3> &mat,
const detail::Euler3<T> &reference);
[[nodiscard]] inline Euler3Base<T> to_nearest_euler(const MatBase<T, 3, 3> &mat,
const Euler3Base<T> &reference);
template<typename T>
[[nodiscard]] inline detail::Euler3<T> to_nearest_euler(const MatBase<T, 4, 4> &mat,
const detail::Euler3<T> &reference);
[[nodiscard]] inline Euler3Base<T> to_nearest_euler(const MatBase<T, 4, 4> &mat,
const Euler3Base<T> &reference);
/**
* Extract quaternion rotation from transform matrix.
*/
template<typename T>
[[nodiscard]] inline detail::Quaternion<T> to_quaternion(const MatBase<T, 3, 3> &mat);
[[nodiscard]] inline QuaternionBase<T> to_quaternion(const MatBase<T, 3, 3> &mat);
template<typename T>
[[nodiscard]] inline detail::Quaternion<T> to_quaternion(const MatBase<T, 4, 4> &mat);
[[nodiscard]] inline QuaternionBase<T> to_quaternion(const MatBase<T, 4, 4> &mat);
/**
* Extract quaternion rotation from transform matrix.
@ -516,25 +514,25 @@ inline bool is_zero(const MatBase<T, NumCol, NumRow> &mat)
namespace detail {
template<typename T, int NumCol, int NumRow>
[[nodiscard]] MatBase<T, NumCol, NumRow> from_rotation(const AngleRadian<T> &rotation);
[[nodiscard]] MatBase<T, NumCol, NumRow> from_rotation(const AngleRadianBase<T> &rotation);
template<typename T, int NumCol, int NumRow>
[[nodiscard]] MatBase<T, NumCol, NumRow> from_rotation(const EulerXYZ<T> &rotation);
[[nodiscard]] MatBase<T, NumCol, NumRow> from_rotation(const EulerXYZBase<T> &rotation);
template<typename T, int NumCol, int NumRow>
[[nodiscard]] MatBase<T, NumCol, NumRow> from_rotation(const Euler3<T> &rotation);
[[nodiscard]] MatBase<T, NumCol, NumRow> from_rotation(const Euler3Base<T> &rotation);
template<typename T, int NumCol, int NumRow>
[[nodiscard]] MatBase<T, NumCol, NumRow> from_rotation(const Quaternion<T> &rotation);
[[nodiscard]] MatBase<T, NumCol, NumRow> from_rotation(const QuaternionBase<T> &rotation);
template<typename T, int NumCol, int NumRow>
[[nodiscard]] MatBase<T, NumCol, NumRow> from_rotation(const DualQuaternion<T> &rotation);
[[nodiscard]] MatBase<T, NumCol, NumRow> from_rotation(const DualQuaternionBase<T> &rotation);
template<typename T, int NumCol, int NumRow>
[[nodiscard]] MatBase<T, NumCol, NumRow> from_rotation(const CartesianBasis &rotation);
template<typename T, int NumCol, int NumRow, typename AngleT>
[[nodiscard]] MatBase<T, NumCol, NumRow> from_rotation(const AxisAngle<T, AngleT> &rotation);
[[nodiscard]] MatBase<T, NumCol, NumRow> from_rotation(const AxisAngleBase<T, AngleT> &rotation);
} // namespace detail
@ -591,7 +589,7 @@ template<typename T, int NumCol, int NumRow, typename VectorT>
template<typename T, int NumCol, int NumRow, typename AngleT>
[[nodiscard]] MatBase<T, NumCol, NumRow> rotate(const MatBase<T, NumCol, NumRow> &mat,
const detail::AxisAngle<T, AngleT> &rotation)
const AxisAngleBase<T, AngleT> &rotation)
{
using MatT = MatBase<T, NumCol, NumRow>;
using Vec3T = typename MatT::vec3_type;
@ -707,9 +705,7 @@ template<typename T, int NumCol, int NumRow, typename VectorT>
namespace detail {
template<typename T>
void normalized_to_eul2(const MatBase<T, 3, 3> &mat,
detail::EulerXYZ<T> &eul1,
detail::EulerXYZ<T> &eul2)
void normalized_to_eul2(const MatBase<T, 3, 3> &mat, EulerXYZBase<T> &eul1, EulerXYZBase<T> &eul2)
{
BLI_assert(math::is_unit_scale(mat));
@ -732,9 +728,7 @@ void normalized_to_eul2(const MatBase<T, 3, 3> &mat,
}
}
template<typename T>
void normalized_to_eul2(const MatBase<T, 3, 3> &mat,
detail::Euler3<T> &eul1,
detail::Euler3<T> &eul2)
void normalized_to_eul2(const MatBase<T, 3, 3> &mat, Euler3Base<T> &eul1, Euler3Base<T> &eul2)
{
BLI_assert(math::is_unit_scale(mat));
const int i_index = eul1.i_index();
@ -767,22 +761,22 @@ void normalized_to_eul2(const MatBase<T, 3, 3> &mat,
/* Using explicit template instantiations in order to reduce compilation time. */
extern template void normalized_to_eul2(const float3x3 &mat,
detail::Euler3<float> &eul1,
detail::Euler3<float> &eul2);
Euler3Base<float> &eul1,
Euler3Base<float> &eul2);
extern template void normalized_to_eul2(const float3x3 &mat,
detail::EulerXYZ<float> &eul1,
detail::EulerXYZ<float> &eul2);
EulerXYZBase<float> &eul1,
EulerXYZBase<float> &eul2);
extern template void normalized_to_eul2(const double3x3 &mat,
detail::EulerXYZ<double> &eul1,
detail::EulerXYZ<double> &eul2);
EulerXYZBase<double> &eul1,
EulerXYZBase<double> &eul2);
template<typename T> detail::Quaternion<T> normalized_to_quat_fast(const MatBase<T, 3, 3> &mat)
template<typename T> QuaternionBase<T> normalized_to_quat_fast(const MatBase<T, 3, 3> &mat)
{
BLI_assert(math::is_unit_scale(mat));
/* Caller must ensure matrices aren't negative for valid results, see: #24291, #94231. */
BLI_assert(!math::is_negative(mat));
detail::Quaternion<T> q;
QuaternionBase<T> q;
/* Method outlined by Mike Day, ref: https://math.stackexchange.com/a/3183435/220949
* with an additional `sqrtf(..)` for higher precision result.
@ -865,12 +859,11 @@ template<typename T> detail::Quaternion<T> normalized_to_quat_fast(const MatBase
return q;
}
template<typename T>
detail::Quaternion<T> normalized_to_quat_with_checks(const MatBase<T, 3, 3> &mat)
template<typename T> QuaternionBase<T> normalized_to_quat_with_checks(const MatBase<T, 3, 3> &mat)
{
const T det = math::determinant(mat);
if (UNLIKELY(!isfinite(det))) {
return detail::Quaternion<T>::identity();
return QuaternionBase<T>::identity();
}
else if (UNLIKELY(det < T(0))) {
return normalized_to_quat_fast(-mat);
@ -879,11 +872,11 @@ detail::Quaternion<T> normalized_to_quat_with_checks(const MatBase<T, 3, 3> &mat
}
/* Using explicit template instantiations in order to reduce compilation time. */
extern template Quaternion<float> normalized_to_quat_with_checks(const float3x3 &mat);
extern template Quaternion<double> normalized_to_quat_with_checks(const double3x3 &mat);
extern template QuaternionBase<float> normalized_to_quat_with_checks(const float3x3 &mat);
extern template QuaternionBase<double> normalized_to_quat_with_checks(const double3x3 &mat);
template<typename T, int NumCol, int NumRow>
MatBase<T, NumCol, NumRow> from_rotation(const EulerXYZ<T> &rotation)
MatBase<T, NumCol, NumRow> from_rotation(const EulerXYZBase<T> &rotation)
{
using MatT = MatBase<T, NumCol, NumRow>;
using DoublePrecision = typename TypeTraits<T>::DoublePrecision;
@ -914,14 +907,14 @@ MatBase<T, NumCol, NumRow> from_rotation(const EulerXYZ<T> &rotation)
}
template<typename T, int NumCol, int NumRow>
MatBase<T, NumCol, NumRow> from_rotation(const Euler3<T> &rotation)
MatBase<T, NumCol, NumRow> from_rotation(const Euler3Base<T> &rotation)
{
using MatT = MatBase<T, NumCol, NumRow>;
const int i_index = rotation.i_index();
const int j_index = rotation.j_index();
const int k_index = rotation.k_index();
#if 1 /* Reference. */
EulerXYZ<T> euler_xyz(rotation.ijk());
EulerXYZBase<T> euler_xyz(rotation.ijk());
const MatT mat = from_rotation<T, NumCol, NumRow>(rotation.parity() ? -euler_xyz : euler_xyz);
MatT result = MatT::identity();
result[i_index][i_index] = mat[0][0];
@ -940,7 +933,7 @@ MatBase<T, NumCol, NumRow> from_rotation(const Euler3<T> &rotation)
}
template<typename T, int NumCol, int NumRow>
MatBase<T, NumCol, NumRow> from_rotation(const Quaternion<T> &rotation)
MatBase<T, NumCol, NumRow> from_rotation(const QuaternionBase<T> &rotation)
{
using MatT = MatBase<T, NumCol, NumRow>;
using DoublePrecision = typename TypeTraits<T>::DoublePrecision;
@ -976,7 +969,7 @@ MatBase<T, NumCol, NumRow> from_rotation(const Quaternion<T> &rotation)
/* Not technically speaking a simple rotation, but a whole transform. */
template<typename T, int NumCol, int NumRow>
[[nodiscard]] MatBase<T, NumCol, NumRow> from_rotation(const DualQuaternion<T> &rotation)
[[nodiscard]] MatBase<T, NumCol, NumRow> from_rotation(const DualQuaternionBase<T> &rotation)
{
using MatT = MatBase<T, NumCol, NumRow>;
BLI_assert(is_normalized(rotation));
@ -987,8 +980,8 @@ template<typename T, int NumCol, int NumRow>
* Trinity College Dublin, Czech Technical University in Prague
*/
/* Follow the paper notation. */
const Quaternion<T> &c0 = rotation.quat;
const Quaternion<T> &ce = rotation.trans;
const QuaternionBase<T> &c0 = rotation.quat;
const QuaternionBase<T> &ce = rotation.trans;
const T &w0 = c0.w, &x0 = c0.x, &y0 = c0.y, &z0 = c0.z;
const T &we = ce.w, &xe = ce.x, &ye = ce.y, &ze = ce.z;
/* Rotation. */
@ -1016,7 +1009,7 @@ MatBase<T, NumCol, NumRow> from_rotation(const CartesianBasis &rotation)
}
template<typename T, int NumCol, int NumRow, typename AngleT>
MatBase<T, NumCol, NumRow> from_rotation(const AxisAngle<T, AngleT> &rotation)
MatBase<T, NumCol, NumRow> from_rotation(const AxisAngleBase<T, AngleT> &rotation)
{
using MatT = MatBase<T, NumCol, NumRow>;
using Vec3T = typename MatT::vec3_type;
@ -1045,7 +1038,7 @@ MatBase<T, NumCol, NumRow> from_rotation(const AxisAngle<T, AngleT> &rotation)
}
template<typename T, int NumCol, int NumRow>
MatBase<T, NumCol, NumRow> from_rotation(const AngleRadian<T> &rotation)
MatBase<T, NumCol, NumRow> from_rotation(const AngleRadianBase<T> &rotation)
{
using MatT = MatBase<T, NumCol, NumRow>;
const T cos_i = cos(rotation);
@ -1061,34 +1054,34 @@ MatBase<T, NumCol, NumRow> from_rotation(const AngleRadian<T> &rotation)
}
/* Using explicit template instantiations in order to reduce compilation time. */
extern template MatBase<float, 2, 2> from_rotation(const AngleRadian<float> &rotation);
extern template MatBase<float, 3, 3> from_rotation(const AngleRadian<float> &rotation);
extern template MatBase<float, 3, 3> from_rotation(const EulerXYZ<float> &rotation);
extern template MatBase<float, 4, 4> from_rotation(const EulerXYZ<float> &rotation);
extern template MatBase<float, 3, 3> from_rotation(const Euler3<float> &rotation);
extern template MatBase<float, 4, 4> from_rotation(const Euler3<float> &rotation);
extern template MatBase<float, 3, 3> from_rotation(const Quaternion<float> &rotation);
extern template MatBase<float, 4, 4> from_rotation(const Quaternion<float> &rotation);
extern template MatBase<float, 3, 3> from_rotation(const math::AxisAngle &rotation);
extern template MatBase<float, 4, 4> from_rotation(const math::AxisAngle &rotation);
extern template MatBase<float, 3, 3> from_rotation(const math::AxisAngleCartesian &rotation);
extern template MatBase<float, 4, 4> from_rotation(const math::AxisAngleCartesian &rotation);
extern template MatBase<float, 2, 2> from_rotation(const AngleRadian &rotation);
extern template MatBase<float, 3, 3> from_rotation(const AngleRadian &rotation);
extern template MatBase<float, 3, 3> from_rotation(const EulerXYZ &rotation);
extern template MatBase<float, 4, 4> from_rotation(const EulerXYZ &rotation);
extern template MatBase<float, 3, 3> from_rotation(const Euler3 &rotation);
extern template MatBase<float, 4, 4> from_rotation(const Euler3 &rotation);
extern template MatBase<float, 3, 3> from_rotation(const Quaternion &rotation);
extern template MatBase<float, 4, 4> from_rotation(const Quaternion &rotation);
extern template MatBase<float, 3, 3> from_rotation(const AxisAngle &rotation);
extern template MatBase<float, 4, 4> from_rotation(const AxisAngle &rotation);
extern template MatBase<float, 3, 3> from_rotation(const AxisAngleCartesian &rotation);
extern template MatBase<float, 4, 4> from_rotation(const AxisAngleCartesian &rotation);
} // namespace detail
template<typename T>
[[nodiscard]] inline detail::Euler3<T> to_euler(const MatBase<T, 3, 3> &mat, EulerOrder order)
[[nodiscard]] inline Euler3Base<T> to_euler(const MatBase<T, 3, 3> &mat, EulerOrder order)
{
detail::Euler3<T> eul1(order), eul2(order);
Euler3Base<T> eul1(order), eul2(order);
detail::normalized_to_eul2(mat, eul1, eul2);
/* Return best, which is just the one with lowest values in it. */
return (length_manhattan(VecBase<T, 3>(eul1)) > length_manhattan(VecBase<T, 3>(eul2))) ? eul2 :
eul1;
}
template<typename T> [[nodiscard]] inline detail::EulerXYZ<T> to_euler(const MatBase<T, 3, 3> &mat)
template<typename T> [[nodiscard]] inline EulerXYZBase<T> to_euler(const MatBase<T, 3, 3> &mat)
{
detail::EulerXYZ<T> eul1, eul2;
EulerXYZBase<T> eul1, eul2;
detail::normalized_to_eul2(mat, eul1, eul2);
/* Return best, which is just the one with lowest values in it. */
return (length_manhattan(VecBase<T, 3>(eul1)) > length_manhattan(VecBase<T, 3>(eul2))) ? eul2 :
@ -1096,23 +1089,23 @@ template<typename T> [[nodiscard]] inline detail::EulerXYZ<T> to_euler(const Mat
}
template<typename T>
[[nodiscard]] inline detail::Euler3<T> to_euler(const MatBase<T, 4, 4> &mat, EulerOrder order)
[[nodiscard]] inline Euler3Base<T> to_euler(const MatBase<T, 4, 4> &mat, EulerOrder order)
{
/* TODO(fclem): Avoid the copy with 3x3 ref. */
return to_euler<T>(MatBase<T, 3, 3>(mat), order);
}
template<typename T> [[nodiscard]] inline detail::EulerXYZ<T> to_euler(const MatBase<T, 4, 4> &mat)
template<typename T> [[nodiscard]] inline EulerXYZBase<T> to_euler(const MatBase<T, 4, 4> &mat)
{
/* TODO(fclem): Avoid the copy with 3x3 ref. */
return to_euler<T>(MatBase<T, 3, 3>(mat));
}
template<typename T>
[[nodiscard]] inline detail::Euler3<T> to_nearest_euler(const MatBase<T, 3, 3> &mat,
const detail::Euler3<T> &reference)
[[nodiscard]] inline Euler3Base<T> to_nearest_euler(const MatBase<T, 3, 3> &mat,
const Euler3Base<T> &reference)
{
detail::Euler3<T> eul1(reference.order()), eul2(reference.order());
Euler3Base<T> eul1(reference.order()), eul2(reference.order());
detail::normalized_to_eul2(mat, eul1, eul2);
eul1 = eul1.wrapped_around(reference);
eul2 = eul2.wrapped_around(reference);
@ -1124,10 +1117,10 @@ template<typename T>
}
template<typename T>
[[nodiscard]] inline detail::EulerXYZ<T> to_nearest_euler(const MatBase<T, 3, 3> &mat,
const detail::EulerXYZ<T> &reference)
[[nodiscard]] inline EulerXYZBase<T> to_nearest_euler(const MatBase<T, 3, 3> &mat,
const EulerXYZBase<T> &reference)
{
detail::EulerXYZ<T> eul1, eul2;
EulerXYZBase<T> eul1, eul2;
detail::normalized_to_eul2(mat, eul1, eul2);
eul1 = eul1.wrapped_around(reference);
eul2 = eul2.wrapped_around(reference);
@ -1139,29 +1132,29 @@ template<typename T>
}
template<typename T>
[[nodiscard]] inline detail::Euler3<T> to_nearest_euler(const MatBase<T, 4, 4> &mat,
const detail::Euler3<T> &reference)
[[nodiscard]] inline Euler3Base<T> to_nearest_euler(const MatBase<T, 4, 4> &mat,
const Euler3Base<T> &reference)
{
/* TODO(fclem): Avoid the copy with 3x3 ref. */
return to_euler<T>(MatBase<T, 3, 3>(mat), reference);
}
template<typename T>
[[nodiscard]] inline detail::EulerXYZ<T> to_nearest_euler(const MatBase<T, 4, 4> &mat,
const detail::EulerXYZ<T> &reference)
[[nodiscard]] inline EulerXYZBase<T> to_nearest_euler(const MatBase<T, 4, 4> &mat,
const EulerXYZBase<T> &reference)
{
/* TODO(fclem): Avoid the copy with 3x3 ref. */
return to_euler<T>(MatBase<T, 3, 3>(mat), reference);
}
template<typename T>
[[nodiscard]] inline detail::Quaternion<T> to_quaternion(const MatBase<T, 3, 3> &mat)
[[nodiscard]] inline QuaternionBase<T> to_quaternion(const MatBase<T, 3, 3> &mat)
{
return detail::normalized_to_quat_with_checks(mat);
}
template<typename T>
[[nodiscard]] inline detail::Quaternion<T> to_quaternion(const MatBase<T, 4, 4> &mat)
[[nodiscard]] inline QuaternionBase<T> to_quaternion(const MatBase<T, 4, 4> &mat)
{
/* TODO(fclem): Avoid the copy with 3x3 ref. */
return to_quaternion<T>(MatBase<T, 3, 3>(mat));
@ -1195,19 +1188,19 @@ template<bool AllowNegativeScale, typename T>
namespace detail {
template<typename T>
inline void to_rotation(const MatBase<T, 3, 3> &mat, detail::Quaternion<T> &r_rotation)
inline void to_rotation(const MatBase<T, 3, 3> &mat, QuaternionBase<T> &r_rotation)
{
r_rotation = to_quaternion<T>(mat);
}
template<typename T>
inline void to_rotation(const MatBase<T, 3, 3> &mat, detail::EulerXYZ<T> &r_rotation)
inline void to_rotation(const MatBase<T, 3, 3> &mat, EulerXYZBase<T> &r_rotation)
{
r_rotation = to_euler<T>(mat);
}
template<typename T>
inline void to_rotation(const MatBase<T, 3, 3> &mat, detail::Euler3<T> &r_rotation)
inline void to_rotation(const MatBase<T, 3, 3> &mat, Euler3Base<T> &r_rotation)
{
r_rotation = to_euler<T>(mat, r_rotation.order());
}

169
source/blender/blenlib/BLI_math_quaternion.hh
View File

@ -24,37 +24,34 @@ namespace blender::math {
* Equivalent to component wise multiplication followed by summation of the result.
*/
template<typename T>
[[nodiscard]] inline T dot(const detail::Quaternion<T> &a, const detail::Quaternion<T> &b);
[[nodiscard]] inline T dot(const QuaternionBase<T> &a, const QuaternionBase<T> &b);
/**
* Raise a unit #Quaternion \a q to the real \a y exponent.
* \note This only works on unit quaternions and y != 0.
* \note This is not a per component power.
*/
template<typename T>
[[nodiscard]] detail::Quaternion<T> pow(const detail::Quaternion<T> &q, const T &y);
template<typename T> [[nodiscard]] QuaternionBase<T> pow(const QuaternionBase<T> &q, const T &y);
/**
* Return the conjugate of the given quaternion.
* If the quaternion \a q represent the rotation from A to B,
* then the conjugate of \a q represents the rotation from B to A.
*/
template<typename T>
[[nodiscard]] inline detail::Quaternion<T> conjugate(const detail::Quaternion<T> &a);
template<typename T> [[nodiscard]] inline QuaternionBase<T> conjugate(const QuaternionBase<T> &a);
/**
* Negate the quaternion if real component (w) is negative.
*/
template<typename T>
[[nodiscard]] inline detail::Quaternion<T> canonicalize(const detail::Quaternion<T> &q);
[[nodiscard]] inline QuaternionBase<T> canonicalize(const QuaternionBase<T> &q);
/**
* Return invert of \a q or identity if \a q is ill-formed.
* The invert allows quaternion division.
* \note The inverse of \a q isn't the opposite rotation. This would be the conjugate.
*/
template<typename T>
[[nodiscard]] inline detail::Quaternion<T> invert(const detail::Quaternion<T> &q);
template<typename T> [[nodiscard]] inline QuaternionBase<T> invert(const QuaternionBase<T> &q);
/**
* Return invert of \a q assuming it is a unit quaternion.
@ -62,16 +59,15 @@ template<typename T>
* but this function shows the intent better, and asserts if \a q ever becomes non-unit-length.
*/
template<typename T>
[[nodiscard]] inline detail::Quaternion<T> invert_normalized(const detail::Quaternion<T> &q);
[[nodiscard]] inline QuaternionBase<T> invert_normalized(const QuaternionBase<T> &q);
/**
* Return a unit quaternion representing the same rotation as \a q or
* the identity quaternion if \a q is ill-formed.
*/
template<typename T> [[nodiscard]] inline QuaternionBase<T> normalize(const QuaternionBase<T> &q);
template<typename T>
[[nodiscard]] inline detail::Quaternion<T> normalize(const detail::Quaternion<T> &q);
template<typename T>
[[nodiscard]] inline detail::Quaternion<T> normalize_and_get_length(const detail::Quaternion<T> &q,
[[nodiscard]] inline QuaternionBase<T> normalize_and_get_length(const QuaternionBase<T> &q,
T &out_length);
/**
@ -79,8 +75,8 @@ template<typename T>
* Always interpolate along the shortest angle.
*/
template<typename T>
[[nodiscard]] inline detail::Quaternion<T> interpolate(const detail::Quaternion<T> &a,
const detail::Quaternion<T> &b,
[[nodiscard]] inline QuaternionBase<T> interpolate(const QuaternionBase<T> &a,
const QuaternionBase<T> &b,
T t);
/** \} */
@ -93,7 +89,7 @@ template<typename T>
* Transform \a v by rotation using the quaternion \a q .
*/
template<typename T>
[[nodiscard]] inline VecBase<T, 3> transform_point(const detail::Quaternion<T> &q,
[[nodiscard]] inline VecBase<T, 3> transform_point(const QuaternionBase<T> &q,
const VecBase<T, 3> &v);
/** \} */
@ -105,7 +101,7 @@ template<typename T>
/**
* Returns true if all components are exactly equal to 0.
*/
template<typename T> [[nodiscard]] inline bool is_zero(const detail::Quaternion<T> &q)
template<typename T> [[nodiscard]] inline bool is_zero(const QuaternionBase<T> &q)
{
return q.w == T(0) && q.x == T(0) && q.y == T(0) && q.z == T(0);
}
@ -114,22 +110,22 @@ template<typename T> [[nodiscard]] inline bool is_zero(const detail::Quaternion<
* Returns true if the quaternions are equal within the given epsilon. Return false otherwise.
*/
template<typename T>
[[nodiscard]] inline bool is_equal(const detail::Quaternion<T> &a,
const detail::Quaternion<T> &b,
[[nodiscard]] inline bool is_equal(const QuaternionBase<T> &a,
const QuaternionBase<T> &b,
const T epsilon = T(0))
{
return math::abs(a.w - b.w) <= epsilon && math::abs(a.y - b.y) <= epsilon &&
math::abs(a.x - b.x) <= epsilon && math::abs(a.z - b.z) <= epsilon;
}
template<typename T> [[nodiscard]] inline bool is_unit_scale(const detail::Quaternion<T> &q)
template<typename T> [[nodiscard]] inline bool is_unit_scale(const QuaternionBase<T> &q)
{
/* Checks are flipped so NAN doesn't assert because we're making sure the value was
* normalized and in the case we don't want NAN to be raising asserts since there
* is nothing to be done in that case. */
const T test_unit = q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w;
return (!(math::abs(test_unit - T(1)) >= AssertUnitEpsilon<detail::Quaternion<T>>::value) ||
!(math::abs(test_unit) >= AssertUnitEpsilon<detail::Quaternion<T>>::value));
return (!(math::abs(test_unit - T(1)) >= AssertUnitEpsilon<QuaternionBase<T>>::value) ||
!(math::abs(test_unit) >= AssertUnitEpsilon<QuaternionBase<T>>::value));
}
/** \} */
@ -138,73 +134,69 @@ template<typename T> [[nodiscard]] inline bool is_unit_scale(const detail::Quate
/** \name Quaternion
* \{ */
namespace detail {
/* -------------- Conversions -------------- */
template<typename T> AngleRadian<T> Quaternion<T>::twist_angle(const Axis axis) const
template<typename T> AngleRadianBase<T> QuaternionBase<T>::twist_angle(const Axis axis) const
{
/* The calculation requires a canonical quaternion. */
const VecBase<T, 4> input_vec(canonicalize(*this));
return T(2) * AngleRadian<T>(input_vec[0], input_vec.yzw()[axis.as_int()]);
return T(2) * AngleRadianBase<T>(input_vec[0], input_vec.yzw()[axis.as_int()]);
}
template<typename T> Quaternion<T> Quaternion<T>::swing(const Axis axis) const
template<typename T> QuaternionBase<T> QuaternionBase<T>::swing(const Axis axis) const
{
/* The calculation requires a canonical quaternion. */
const Quaternion<T> input = canonicalize(*this);
const QuaternionBase<T> input = canonicalize(*this);
/* Compute swing by multiplying the original quaternion by inverted twist. */
Quaternion<T> swing = input * invert_normalized(input.twist(axis));
QuaternionBase<T> swing = input * invert_normalized(input.twist(axis));
BLI_assert(math::abs(VecBase<T, 4>(swing)[axis.as_int() + 1]) < BLI_ASSERT_UNIT_EPSILON);
return swing;
}
template<typename T> Quaternion<T> Quaternion<T>::twist(const Axis axis) const
template<typename T> QuaternionBase<T> QuaternionBase<T>::twist(const Axis axis) const
{
/* The calculation requires a canonical quaternion. */
const VecBase<T, 4> input_vec(canonicalize(*this));
AngleCartesian<T> half_angle = AngleCartesian<T>::from_point(input_vec[0],
input_vec.yzw()[axis.as_int()]);
AngleCartesianBase<T> half_angle = AngleCartesianBase<T>::from_point(
input_vec[0], input_vec.yzw()[axis.as_int()]);
VecBase<T, 4> twist(half_angle.cos(), T(0), T(0), T(0));
twist[axis.as_int() + 1] = half_angle.sin();
return Quaternion<T>(twist);
return QuaternionBase<T>(twist);
}
/* -------------- Methods -------------- */
template<typename T> Quaternion<T> Quaternion<T>::wrapped_around(const Quaternion &reference) const
template<typename T>
QuaternionBase<T> QuaternionBase<T>::wrapped_around(const QuaternionBase<T> &reference) const
{
BLI_assert(is_unit_scale(*this));
const Quaternion<T> &input = *this;
const QuaternionBase<T> &input = *this;
T len;
Quaternion<T> reference_normalized = normalize_and_get_length(reference, len);
QuaternionBase<T> reference_normalized = normalize_and_get_length(reference, len);
/* Skips degenerate case. */
if (len < 1e-4f) {
return input;
}
Quaternion<T> result = reference * invert_normalized(reference_normalized) * input;
QuaternionBase<T> result = reference * invert_normalized(reference_normalized) * input;
return (distance_squared(VecBase<T, 4>(-result), VecBase<T, 4>(reference)) <
distance_squared(VecBase<T, 4>(result), VecBase<T, 4>(reference))) ?
-result :
result;
}
} // namespace detail
/* -------------- Functions -------------- */
template<typename T>
[[nodiscard]] inline T dot(const detail::Quaternion<T> &a, const detail::Quaternion<T> &b)
[[nodiscard]] inline T dot(const QuaternionBase<T> &a, const QuaternionBase<T> &b)
{
return a.w * b.w + a.x * b.x + a.y * b.y + a.z * b.z;
}
template<typename T>
[[nodiscard]] detail::Quaternion<T> pow(const detail::Quaternion<T> &q, const T &y)
template<typename T> [[nodiscard]] QuaternionBase<T> pow(const QuaternionBase<T> &q, const T &y)
{
BLI_assert(is_unit_scale(q));
/* Reference material:
@ -223,45 +215,42 @@ template<typename T>
return {math::cos(half_angle), math::sin(half_angle) * normalize(q.imaginary_part())};
}
template<typename T>
[[nodiscard]] inline detail::Quaternion<T> conjugate(const detail::Quaternion<T> &a)
template<typename T> [[nodiscard]] inline QuaternionBase<T> conjugate(const QuaternionBase<T> &a)
{
return {a.w, -a.x, -a.y, -a.z};
}
template<typename T>
[[nodiscard]] inline detail::Quaternion<T> canonicalize(const detail::Quaternion<T> &q)
[[nodiscard]] inline QuaternionBase<T> canonicalize(const QuaternionBase<T> &q)
{
return (q.w < T(0)) ? -q : q;
}
template<typename T>
[[nodiscard]] inline detail::Quaternion<T> invert(const detail::Quaternion<T> &q)
template<typename T> [[nodiscard]] inline QuaternionBase<T> invert(const QuaternionBase<T> &q)
{
const T length_squared = dot(q, q);
if (length_squared == T(0)) {
return detail::Quaternion<T>::identity();
return QuaternionBase<T>::identity();
}
return conjugate(q) * (T(1) / length_squared);
}
template<typename T>
[[nodiscard]] inline detail::Quaternion<T> invert_normalized(const detail::Quaternion<T> &q)
[[nodiscard]] inline QuaternionBase<T> invert_normalized(const QuaternionBase<T> &q)
{
BLI_assert(is_unit_scale(q));
return conjugate(q);
}
template<typename T>
[[nodiscard]] inline detail::Quaternion<T> normalize_and_get_length(const detail::Quaternion<T> &q,
[[nodiscard]] inline QuaternionBase<T> normalize_and_get_length(const QuaternionBase<T> &q,
T &out_length)
{
out_length = math::sqrt(dot(q, q));
return (out_length != T(0)) ? (q * (T(1) / out_length)) : detail::Quaternion<T>::identity();
return (out_length != T(0)) ? (q * (T(1) / out_length)) : QuaternionBase<T>::identity();
}
template<typename T>
[[nodiscard]] inline detail::Quaternion<T> normalize(const detail::Quaternion<T> &q)
template<typename T> [[nodiscard]] inline QuaternionBase<T> normalize(const QuaternionBase<T> &q)
{
T len;
return normalize_and_get_length(q, len);
@ -306,28 +295,28 @@ template<typename T>
}
template<typename T>
[[nodiscard]] inline detail::Quaternion<T> interpolate(const detail::Quaternion<T> &a,
const detail::Quaternion<T> &b,
[[nodiscard]] inline QuaternionBase<T> interpolate(const QuaternionBase<T> &a,
const QuaternionBase<T> &b,
T t)
{
using Vec4T = VecBase<T, 4>;
BLI_assert(is_unit_scale(a));
BLI_assert(is_unit_scale(b));
VecBase<T, 2> w = interpolate_dot_slerp(t, dot(a, b));
return detail::Quaternion<T>(w[0] * Vec4T(a) + w[1] * Vec4T(b));
return QuaternionBase<T>(w[0] * Vec4T(a) + w[1] * Vec4T(b));
}
template<typename T>
[[nodiscard]] inline VecBase<T, 3> transform_point(const detail::Quaternion<T> &q,
[[nodiscard]] inline VecBase<T, 3> transform_point(const QuaternionBase<T> &q,
const VecBase<T, 3> &v)
{
#if 0 /* Reference. */
detail::Quaternion<T> V(T(0), UNPACK3(v));
detail::Quaternion<T> R = q * V * conjugate(q);
QuaternionBase<T> V(T(0), UNPACK3(v));
QuaternionBase<T> R = q * V * conjugate(q);
return {R.x, R.y, R.z};
#else
/* `S = q * V` */
detail::Quaternion<T> S;
QuaternionBase<T> S;
S.w = /* q.w * 0.0 */ -q.x * v.x - q.y * v.y - q.z * v.z;
S.x = q.w * v.x /* + q.x * 0.0 */ + q.y * v.z - q.z * v.y;
S.y = q.w * v.y /* + q.y * 0.0 */ + q.z * v.x - q.x * v.z;
@ -348,20 +337,19 @@ template<typename T>
/** \name Dual-Quaternion
* \{ */
namespace detail {
/* -------------- Constructors -------------- */
template<typename T>
DualQuaternion<T>::DualQuaternion(const Quaternion<T> &non_dual, const Quaternion<T> &dual)
DualQuaternionBase<T>::DualQuaternionBase(const QuaternionBase<T> &non_dual,
const QuaternionBase<T> &dual)
: quat(non_dual), trans(dual), scale_weight(0), quat_weight(1)
{
BLI_assert(is_unit_scale(non_dual));
}
template<typename T>
DualQuaternion<T>::DualQuaternion(const Quaternion<T> &non_dual,
const Quaternion<T> &dual,
DualQuaternionBase<T>::DualQuaternionBase(const QuaternionBase<T> &non_dual,
const QuaternionBase<T> &dual,
const MatBase<T, 4, 4> &scale_mat)
: quat(non_dual), trans(dual), scale(scale_mat), scale_weight(1), quat_weight(1)
{
@ -370,9 +358,10 @@ DualQuaternion<T>::DualQuaternion(const Quaternion<T> &non_dual,
/* -------------- Operators -------------- */
template<typename T> DualQuaternion<T> &DualQuaternion<T>::operator+=(const DualQuaternion<T> &b)
template<typename T>
DualQuaternionBase<T> &DualQuaternionBase<T>::operator+=(const DualQuaternionBase<T> &b)
{
DualQuaternion<T> &a = *this;
DualQuaternionBase<T> &a = *this;
/* Sum rotation and translation. */
/* Make sure we interpolate quaternions in the right direction. */
@ -416,10 +405,10 @@ template<typename T> DualQuaternion<T> &DualQuaternion<T>::operator+=(const Dual
return *this;
}
template<typename T> DualQuaternion<T> &DualQuaternion<T>::operator*=(const T &t)
template<typename T> DualQuaternionBase<T> &DualQuaternionBase<T>::operator*=(const T &t)
{
BLI_assert(t >= 0);
DualQuaternion<T> &q = *this;
DualQuaternionBase<T> &q = *this;
q.quat.w *= t;
q.quat.x *= t;
@ -440,8 +429,6 @@ template<typename T> DualQuaternion<T> &DualQuaternion<T>::operator*=(const T &t
return *this;
}
} // namespace detail
/* -------------- Functions -------------- */
/**
@ -452,18 +439,18 @@ template<typename T> DualQuaternion<T> &DualQuaternion<T>::operator*=(const T &t
* \note Returns identity #DualQuaternion if degenerate.
*/
template<typename T>
[[nodiscard]] detail::DualQuaternion<T> normalize(const detail::DualQuaternion<T> &dual_quat)
[[nodiscard]] DualQuaternionBase<T> normalize(const DualQuaternionBase<T> &dual_quat)
{
const T norm_weighted = math::sqrt(dot(dual_quat.quat, dual_quat.quat));
/* NOTE(fclem): Should this be an epsilon? */
if (norm_weighted == T(0)) {
/* The dual-quaternion was zero initialized or is degenerate. Return identity. */
return detail::DualQuaternion<T>::identity();
return DualQuaternionBase<T>::identity();
}
const T inv_norm_weighted = T(1) / norm_weighted;
detail::DualQuaternion<T> dq = dual_quat;
DualQuaternionBase<T> dq = dual_quat;
dq.quat = dq.quat * inv_norm_weighted;
dq.trans = dq.trans * inv_norm_weighted;
@ -493,7 +480,7 @@ template<typename T>
* first. Optionally outputs crazy space matrix.
*/
template<typename T>
[[nodiscard]] VecBase<T, 3> transform_point(const detail::DualQuaternion<T> &dq,
[[nodiscard]] VecBase<T, 3> transform_point(const DualQuaternionBase<T> &dq,
const VecBase<T, 3> &point,
MatBase<T, 3, 3> *r_crazy_space_mat = nullptr)
{
@ -555,7 +542,7 @@ template<typename T>
* This allows volume preserving deformation for skinning.
*/
template<typename T>
[[nodiscard]] detail::DualQuaternion<T> to_dual_quaternion(const MatBase<T, 4, 4> &mat,
[[nodiscard]] DualQuaternionBase<T> to_dual_quaternion(const MatBase<T, 4, 4> &mat,
const MatBase<T, 4, 4> &basemat)
{
/**
@ -586,7 +573,7 @@ template<typename T>
const Mat4T baseinv = invert(basemat);
/* Extra orthogonalize, to avoid flipping with stretched bones. */
detail::Quaternion<T> basequat = to_quaternion(normalize(orthogonalize(baseRS, Axis::Y)));
QuaternionBase<T> basequat = to_quaternion(normalize(orthogonalize(baseRS, Axis::Y)));
Mat4T baseR = from_rotation<Mat4T>(basequat);
baseR.location() = baseRS.location();
@ -603,21 +590,21 @@ template<typename T>
}
/* Non-dual part. */
const detail::Quaternion<T> q = to_quaternion(normalize(R));
const QuaternionBase<T> q = to_quaternion(normalize(R));
/* Dual part. */
const Vec3T &t = R.location().xyz();
detail::Quaternion<T> d;
QuaternionBase<T> d;
d.w = T(-0.5) * (+t.x * q.x + t.y * q.y + t.z * q.z);
d.x = T(+0.5) * (+t.x * q.w + t.y * q.z - t.z * q.y);
d.y = T(+0.5) * (-t.x * q.z + t.y * q.w + t.z * q.x);
d.z = T(+0.5) * (+t.x * q.y - t.y * q.x + t.z * q.w);
if (has_scale) {
return detail::DualQuaternion<T>(q, d, scale);
return DualQuaternionBase<T>(q, d, scale);
}
return detail::DualQuaternion<T>(q, d);
return DualQuaternionBase<T>(q, d);
}
/** \} */
@ -631,7 +618,7 @@ namespace blender::math {
* \{ */
template<typename T, typename AngleT = AngleRadian>
detail::AxisAngle<T, AngleT> to_axis_angle(const detail::Quaternion<T> &quat)
AxisAngleBase<T, AngleT> to_axis_angle(const QuaternionBase<T> &quat)
{
BLI_assert(is_unit_scale(quat));
@ -649,7 +636,7 @@ detail::AxisAngle<T, AngleT> to_axis_angle(const detail::Quaternion<T> &quat)
/* Leverage AngleT implementation of double angle. */
AngleT angle = AngleT(cos_half_angle, sin_half_angle) * 2;
return detail::AxisAngle<T, AngleT>(axis, angle);
return AxisAngleBase<T, AngleT>(axis, angle);
}
/** \} */
@ -658,7 +645,7 @@ detail::AxisAngle<T, AngleT> to_axis_angle(const detail::Quaternion<T> &quat)
/** \name Conversion to Euler
* \{ */
template<typename T> detail::EulerXYZ<T> to_euler(const detail::Quaternion<T> &quat)
template<typename T> EulerXYZBase<T> to_euler(const QuaternionBase<T> &quat)
{
using Mat3T = MatBase<T, 3, 3>;
BLI_assert(is_unit_scale(quat));
@ -666,8 +653,7 @@ template<typename T> detail::EulerXYZ<T> to_euler(const detail::Quaternion<T> &q
return to_euler<T>(unit_mat);
}
template<typename T>
detail::Euler3<T> to_euler(const detail::Quaternion<T> &quat, EulerOrder order)
template<typename T> Euler3Base<T> to_euler(const QuaternionBase<T> &quat, EulerOrder order)
{
using Mat3T = MatBase<T, 3, 3>;
BLI_assert(is_unit_scale(quat));
@ -683,24 +669,23 @@ detail::Euler3<T> to_euler(const detail::Quaternion<T> &quat, EulerOrder order)
/* Prototype needed to avoid interdependencies of headers. */
template<typename T, typename AngleT>
detail::Quaternion<T> to_quaternion(const detail::AxisAngle<T, AngleT> &axis_angle);
QuaternionBase<T> to_quaternion(const AxisAngleBase<T, AngleT> &axis_angle);
template<typename T>
detail::Quaternion<T> detail::Quaternion<T>::expmap(const VecBase<T, 3> &expmap)
template<typename T> QuaternionBase<T> QuaternionBase<T>::expmap(const VecBase<T, 3> &expmap)
{
using AxisAngleT = detail::AxisAngle<T, detail::AngleRadian<T>>;
using AxisAngleT = AxisAngleBase<T, AngleRadianBase<T>>;
/* Obtain axis/angle representation. */
T angle;
const VecBase<T, 3> axis = normalize_and_get_length(expmap, angle);
if (LIKELY(angle != T(0))) {
return to_quaternion(AxisAngleT(axis, angle_wrap_rad(angle)));
}
return detail::Quaternion<T>::identity();
return QuaternionBase<T>::identity();
}
template<typename T> VecBase<T, 3> detail::Quaternion<T>::expmap() const
template<typename T> VecBase<T, 3> QuaternionBase<T>::expmap() const
{
using AxisAngleT = detail::AxisAngle<T, detail::AngleRadian<T>>;
using AxisAngleT = AxisAngleBase<T, AngleRadianBase<T>>;
BLI_assert(is_unit_scale(*this));
const AxisAngleT axis_angle = to_axis_angle(*this);
return axis_angle.axis() * axis_angle.angle().radian();

106
source/blender/blenlib/BLI_math_quaternion_types.hh
View File

@ -18,48 +18,46 @@ namespace blender::math {
/** \name Quaternion
* \{ */
namespace detail {
/**
* A `blender::math::Quaternion<T>` represents either an orientation or a rotation.
* A `blender::math::QuaternionBase<T>` represents either an orientation or a rotation.
*
* Mainly used for rigging and armature deformations as they have nice mathematical properties
* (eg: smooth shortest path interpolation). A `blender::math::Quaternion<T>` is cheaper to combine
* than `MatBase<T, 3, 3>`. However, transforming points is slower. Consider converting to a
* rotation matrix if you are rotating many points.
* (eg: smooth shortest path interpolation). A `blender::math::QuaternionBase<T>` is cheaper to
* combine than `MatBase<T, 3, 3>`. However, transforming points is slower. Consider converting to
* a rotation matrix if you are rotating many points.
*
* See this for more information:
* https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation#Performance_comparisons
*/
template<typename T = float> struct Quaternion {
template<typename T> struct QuaternionBase {
T w, x, y, z;
Quaternion() = default;
QuaternionBase() = default;
Quaternion(const T &new_w, const T &new_x, const T &new_y, const T &new_z)
QuaternionBase(const T &new_w, const T &new_x, const T &new_y, const T &new_z)
: w(new_w), x(new_x), y(new_y), z(new_z){};
/**
* Creates a quaternion from an vector without reordering the components.
* \note Component order must follow the scalar constructor (w, x, y, z).
*/
explicit Quaternion(const VecBase<T, 4> &vec) : Quaternion(UNPACK4(vec)){};
explicit QuaternionBase(const VecBase<T, 4> &vec) : QuaternionBase(UNPACK4(vec)){};
/**
* Creates a quaternion from real (w) and imaginary parts (x, y, z).
*/
Quaternion(const T &real, const VecBase<T, 3> &imaginary)
: Quaternion(real, UNPACK3(imaginary)){};
QuaternionBase(const T &real, const VecBase<T, 3> &imaginary)
: QuaternionBase(real, UNPACK3(imaginary)){};
/** Static functions. */
static Quaternion identity()
static QuaternionBase identity()
{
return {1, 0, 0, 0};
}
/** This is just for convenience. Does not represent a rotation as it is degenerate. */
static Quaternion zero()
static QuaternionBase zero()
{
return {0, 0, 0, 0};
}
@ -68,7 +66,7 @@ template<typename T = float> struct Quaternion {
* Create a quaternion from an exponential map representation.
* An exponential map is basically the rotation axis multiplied by the rotation angle.
*/
static Quaternion expmap(const VecBase<T, 3> &expmap);
static QuaternionBase expmap(const VecBase<T, 3> &expmap);
/** Conversions. */
@ -87,20 +85,20 @@ template<typename T = float> struct Quaternion {
* Returns the full twist angle for a given \a axis direction.
* The twist is the isolated rotation in the plane whose \a axis is normal to.
*/
AngleRadian<T> twist_angle(const Axis axis) const;
AngleRadianBase<T> twist_angle(const Axis axis) const;
/**
* Returns the twist part of this quaternion for the \a axis direction.
* The twist is the isolated rotation in the plane whose \a axis is normal to.
*/
Quaternion twist(const Axis axis) const;
QuaternionBase twist(const Axis axis) const;
/**
* Returns the swing part of this quaternion for the basis \a axis direction.
* The swing is the original quaternion minus the twist around \a axis.
* So we have the following identity : `q = q.swing(axis) * q.twist(axis)`
*/
Quaternion swing(const Axis axis) const;
QuaternionBase swing(const Axis axis) const;
/**
* Returns the imaginary part of this quaternion (x, y, z).
@ -125,11 +123,11 @@ template<typename T = float> struct Quaternion {
* \note This quaternion is expected to be a unit quaternion.
* \note Works even if \a reference is *not* a unit quaternion.
*/
Quaternion wrapped_around(const Quaternion &reference) const;
QuaternionBase wrapped_around(const QuaternionBase &reference) const;
/** Operators. */
friend Quaternion operator*(const Quaternion &a, const Quaternion &b)
friend QuaternionBase operator*(const QuaternionBase &a, const QuaternionBase &b)
{
return {a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z,
a.w * b.x + a.x * b.w + a.y * b.z - a.z * b.y,
@ -137,58 +135,54 @@ template<typename T = float> struct Quaternion {
a.w * b.z + a.z * b.w + a.x * b.y - a.y * b.x};
}
Quaternion &operator*=(const Quaternion &b)
QuaternionBase &operator*=(const QuaternionBase &b)
{
*this = *this * b;
return *this;
}
/* Scalar product. */
friend Quaternion operator*(const Quaternion &a, const T &b)
friend QuaternionBase operator*(const QuaternionBase &a, const T &b)
{
return {a.w * b, a.x * b, a.y * b, a.z * b};
}
/* Negate the quaternion. */
friend Quaternion operator-(const Quaternion &a)
friend QuaternionBase operator-(const QuaternionBase &a)
{
return {-a.w, -a.x, -a.y, -a.z};
}
friend bool operator==(const Quaternion &a, const Quaternion &b)
friend bool operator==(const QuaternionBase &a, const QuaternionBase &b)
{
return (a.w == b.w) && (a.x == b.x) && (a.y == b.y) && (a.z == b.z);
}
friend std::ostream &operator<<(std::ostream &stream, const Quaternion &rot)
friend std::ostream &operator<<(std::ostream &stream, const QuaternionBase &rot)
{
return stream << "Quaternion" << static_cast<VecBase<T, 4>>(rot);
}
};
} // namespace detail
/** \} */
/* -------------------------------------------------------------------- */
/** \name Dual-Quaternion
* \{ */
namespace detail {
/**
* A `blender::math::DualQuaternion<T>` implements dual-quaternion skinning with scale aware
* A `blender::math::DualQuaternionBase<T>` implements dual-quaternion skinning with scale aware
* transformation. It allows volume preserving deformation for skinning.
*
* The type is implemented so that multiple weighted `blender::math::DualQuaternion<T>`
* The type is implemented so that multiple weighted `blender::math::DualQuaternionBase<T>`
* can be aggregated into a final rotation. Calling `normalize(dual_quat)` is mandatory before
* trying to transform points with it.
*/
template<typename T = float> struct DualQuaternion {
template<typename T> struct DualQuaternionBase {
/** Non-dual part. */
Quaternion<T> quat;
QuaternionBase<T> quat;
/** Dual part. */
Quaternion<T> trans;
QuaternionBase<T> trans;
/**
* Scaling is saved separately to handle cases of non orthonormal axes, non uniform scale and
@ -198,7 +192,7 @@ template<typename T = float> struct DualQuaternion {
* It currently holds some translation in some cases. Is this wanted?
* This would save some flops all along the way. */
MatBase<T, 4, 4> scale;
/** The weight of #DualQuaternion.scale. Set to 0 if uniformly scaled to skip `scale` sum. */
/** The weight of #DualQuaternionBase.scale. Set to 0 if uniformly scaled to skip `scale` sum. */
T scale_weight;
/**
* The weight of this dual-quaternion. Used for and summation & normalizing.
@ -206,25 +200,25 @@ template<typename T = float> struct DualQuaternion {
*/
T quat_weight;
DualQuaternion() = delete;
DualQuaternionBase() = delete;
/**
* Dual quaternion without scaling.
*/
DualQuaternion(const Quaternion<T> &non_dual, const Quaternion<T> &dual);
DualQuaternionBase(const QuaternionBase<T> &non_dual, const QuaternionBase<T> &dual);
/**
* Dual quaternion with scaling.
*/
DualQuaternion(const Quaternion<T> &non_dual,
const Quaternion<T> &dual,
DualQuaternionBase(const QuaternionBase<T> &non_dual,
const QuaternionBase<T> &dual,
const MatBase<T, 4, 4> &scale_mat);
/** Static functions. */
static DualQuaternion identity()
static DualQuaternionBase identity()
{
return DualQuaternion(Quaternion<T>::identity(), Quaternion<T>::zero());
return DualQuaternionBase(QuaternionBase<T>::identity(), QuaternionBase<T>::zero());
}
/** Methods. */
@ -232,42 +226,42 @@ template<typename T = float> struct DualQuaternion {
/** Operators. */
/** Apply a scalar weight to a dual quaternion. */
DualQuaternion &operator*=(const T &t);
DualQuaternionBase &operator*=(const T &t);
/** Add two weighted dual-quaternions rotations. */
DualQuaternion &operator+=(const DualQuaternion &b);
DualQuaternionBase &operator+=(const DualQuaternionBase &b);
/** Apply a scalar weight to a dual quaternion. */
friend DualQuaternion operator*(const DualQuaternion &a, const T &t)
friend DualQuaternionBase operator*(const DualQuaternionBase &a, const T &t)
{
DualQuaternion dq = a;
DualQuaternionBase dq = a;
dq *= t;
return dq;
}
/** Apply a scalar weight to a dual quaternion. */
friend DualQuaternion operator*(const T &t, const DualQuaternion &a)
friend DualQuaternionBase operator*(const T &t, const DualQuaternionBase &a)
{
DualQuaternion dq = a;
DualQuaternionBase dq = a;
dq *= t;
return dq;
}
/** Add two weighted dual-quaternions rotations. */
friend DualQuaternion operator+(const DualQuaternion &a, const DualQuaternion &b)
friend DualQuaternionBase operator+(const DualQuaternionBase &a, const DualQuaternionBase &b)
{
DualQuaternion dq = a;
DualQuaternionBase dq = a;
dq += b;
return dq;
}
friend bool operator==(const DualQuaternion &a, const DualQuaternion &b)
friend bool operator==(const DualQuaternionBase &a, const DualQuaternionBase &b)
{
return (a.quat == b.quat) && (a.trans == b.trans) && (a.quat_weight == b.quat_weight) &&
(a.scale_weight == b.scale_weight) && (a.scale == b.scale);
}
friend std::ostream &operator<<(std::ostream &stream, const DualQuaternion &rot)
friend std::ostream &operator<<(std::ostream &stream, const DualQuaternionBase &rot)
{
stream << "DualQuaternion(\n";
stream << " .quat = " << rot.quat << "\n";
@ -281,20 +275,18 @@ template<typename T = float> struct DualQuaternion {
}
};
} // namespace detail
/**
* Returns true if the #DualQuaternion has not been mixed with other #DualQuaternion and needs no
* normalization.
*/
template<typename T> [[nodiscard]] inline bool is_normalized(const detail::DualQuaternion<T> &dq)
template<typename T> [[nodiscard]] inline bool is_normalized(const DualQuaternionBase<T> &dq)
{
return dq.quat_weight == T(1);
}
/** \} */
template<typename U> struct AssertUnitEpsilon<detail::Quaternion<U>> {
template<typename U> struct AssertUnitEpsilon<QuaternionBase<U>> {
static constexpr U value = AssertUnitEpsilon<U>::value * 10;
};
@ -310,8 +302,8 @@ template<> struct TypeTraits<float> {
using DoublePrecision = double;
};
using Quaternion = math::detail::Quaternion<float>;
using DualQuaternion = math::detail::DualQuaternion<float>;
using Quaternion = QuaternionBase<float>;
using DualQuaternion = DualQuaternionBase<float>;
} // namespace blender::math

137
source/blender/blenlib/BLI_math_rotation.hh
View File

@ -27,7 +27,7 @@ namespace blender::math {
* This might introduce some precision loss and have performance implication.
*/
template<typename T, typename RotT>
[[nodiscard]] detail::Quaternion<T> rotate(const detail::Quaternion<T> &a, const RotT &b);
[[nodiscard]] QuaternionBase<T> rotate(const QuaternionBase<T> &a, const RotT &b);
/**
* Rotate \a a by \a b. In other word, insert the \a b rotation before \a a.
@ -36,8 +36,7 @@ template<typename T, typename RotT>
* This might introduce some precision loss and have performance implication.
*/
template<typename T, typename RotT, typename AngleT>
[[nodiscard]] detail::AxisAngle<T, AngleT> rotate(const detail::AxisAngle<T, AngleT> &a,
const RotT &b);
[[nodiscard]] AxisAngleBase<T, AngleT> rotate(const AxisAngleBase<T, AngleT> &a, const RotT &b);
/**
* Rotate \a a by \a b. In other word, insert the \a b rotation before \a a.
@ -46,7 +45,7 @@ template<typename T, typename RotT, typename AngleT>
* This might introduce some precision loss and have performance implication.
*/
template<typename T, typename RotT>
[[nodiscard]] detail::EulerXYZ<T> rotate(const detail::EulerXYZ<T> &a, const RotT &b);
[[nodiscard]] EulerXYZBase<T> rotate(const EulerXYZBase<T> &a, const RotT &b);
/**
* Rotate \a a by \a b. In other word, insert the \a b rotation before \a a.
@ -55,14 +54,14 @@ template<typename T, typename RotT>
* This might introduce some precision loss and have performance implication.
*/
template<typename T, typename RotT>
[[nodiscard]] detail::Euler3<T> rotate(const detail::Euler3<T> &a, const RotT &b);
[[nodiscard]] Euler3Base<T> rotate(const Euler3Base<T> &a, const RotT &b);
/**
* Return rotation from orientation \a a to orientation \a b into another quaternion.
*/
template<typename T>
[[nodiscard]] detail::Quaternion<T> rotation_between(const detail::Quaternion<T> &a,
const detail::Quaternion<T> &b);
[[nodiscard]] QuaternionBase<T> rotation_between(const QuaternionBase<T> &a,
const QuaternionBase<T> &b);
/**
* Create a orientation from a triangle plane and the axis formed by the segment(v1, v2).
@ -70,7 +69,7 @@ template<typename T>
* Used for Ngons when their normal is known.
*/
template<typename T>
[[nodiscard]] detail::Quaternion<T> from_triangle(const VecBase<T, 3> &v1,
[[nodiscard]] QuaternionBase<T> from_triangle(const VecBase<T, 3> &v1,
const VecBase<T, 3> &v2,
const VecBase<T, 3> &v3,
const VecBase<T, 3> &normal);
@ -79,7 +78,7 @@ template<typename T>
* Create a orientation from a triangle plane and the axis formed by the segment(v1, v2).
*/
template<typename T>
[[nodiscard]] detail::Quaternion<T> from_triangle(const VecBase<T, 3> &v1,
[[nodiscard]] QuaternionBase<T> from_triangle(const VecBase<T, 3> &v1,
const VecBase<T, 3> &v2,
const VecBase<T, 3> &v3);
@ -90,7 +89,7 @@ template<typename T>
* \a up_flag is supposed to be #Object.upflag
*/
template<typename T>
[[nodiscard]] detail::Quaternion<T> from_vector(const VecBase<T, 3> &vector,
[[nodiscard]] QuaternionBase<T> from_vector(const VecBase<T, 3> &vector,
const AxisSigned track_flag,
const Axis up_flag);
@ -99,13 +98,12 @@ template<typename T>
* This is slightly different than from_axis_conversion for legacy reasons.
*/
template<typename T>
[[nodiscard]] detail::Quaternion<T> from_tracking(AxisSigned forward_axis, Axis up_axis);
[[nodiscard]] QuaternionBase<T> from_tracking(AxisSigned forward_axis, Axis up_axis);
/**
* Convert euler rotation to gimbal rotation matrix.
*/
template<typename T>
[[nodiscard]] MatBase<T, 3, 3> to_gimbal_axis(const detail::Euler3<T> &rotation);
template<typename T> [[nodiscard]] MatBase<T, 3, 3> to_gimbal_axis(const Euler3Base<T> &rotation);
/** \} */
@ -120,7 +118,7 @@ template<typename T>
* Unlike the angle between vectors, this does *NOT* return the shortest angle.
* See `angle_of_signed` below for this.
*/
template<typename T> [[nodiscard]] detail::AngleRadian<T> angle_of(const detail::Quaternion<T> &q)
template<typename T> [[nodiscard]] AngleRadianBase<T> angle_of(const QuaternionBase<T> &q)
{
BLI_assert(is_unit_scale(q));
return T(2) * math::safe_acos(q.w);
@ -134,8 +132,7 @@ template<typename T> [[nodiscard]] detail::AngleRadian<T> angle_of(const detail:
* allows to use 'abs(angle_of_signed(...))' to get the shortest angle between quaternions with
* higher precision than subtracting 2pi afterwards.
*/
template<typename T>
[[nodiscard]] detail::AngleRadian<T> angle_of_signed(const detail::Quaternion<T> &q)
template<typename T> [[nodiscard]] AngleRadianBase<T> angle_of_signed(const QuaternionBase<T> &q)
{
BLI_assert(is_unit_scale(q));
return T(2) * ((q.w >= T(0)) ? math::safe_acos(q.w) : -math::safe_acos(-q.w));
@ -148,13 +145,13 @@ template<typename T>
* See `angle_of` for more detail.
*/
template<typename T>
[[nodiscard]] detail::AngleRadian<T> angle_between(const detail::Quaternion<T> &a,
const detail::Quaternion<T> &b)
[[nodiscard]] AngleRadianBase<T> angle_between(const QuaternionBase<T> &a,
const QuaternionBase<T> &b)
{
return angle_of(rotation_between(a, b));
}
template<typename T>
[[nodiscard]] detail::AngleRadian<T> angle_between(const VecBase<T, 3> &a, const VecBase<T, 3> &b)
[[nodiscard]] AngleRadianBase<T> angle_between(const VecBase<T, 3> &a, const VecBase<T, 3> &b)
{
BLI_assert(is_unit_scale(a));
BLI_assert(is_unit_scale(b));
@ -178,8 +175,8 @@ template<typename T>
* See `angle_of_signed` for more detail.
*/
template<typename T>
[[nodiscard]] detail::AngleRadian<T> angle_between_signed(const detail::Quaternion<T> &a,
const detail::Quaternion<T> &b)
[[nodiscard]] AngleRadianBase<T> angle_between_signed(const QuaternionBase<T> &a,
const QuaternionBase<T> &b)
{
return angle_of_signed(rotation_between(a, b));
}
@ -191,27 +188,26 @@ template<typename T>
* \{ */
template<typename T, typename RotT>
[[nodiscard]] detail::Quaternion<T> rotate(const detail::Quaternion<T> &a, const RotT &b)
[[nodiscard]] QuaternionBase<T> rotate(const QuaternionBase<T> &a, const RotT &b)
{
return a * detail::Quaternion<T>(b);
return a * QuaternionBase<T>(b);
}
template<typename T, typename RotT, typename AngleT>
[[nodiscard]] detail::AxisAngle<T, AngleT> rotate(const detail::AxisAngle<T, AngleT> &a,
const RotT &b)
[[nodiscard]] AxisAngleBase<T, AngleT> rotate(const AxisAngleBase<T, AngleT> &a, const RotT &b)
{
return detail::AxisAngle<T, AngleT>(detail::Quaternion<T>(a) * detail::Quaternion<T>(b));
return AxisAngleBase<T, AngleT>(QuaternionBase<T>(a) * QuaternionBase<T>(b));
}
template<typename T, typename RotT>
[[nodiscard]] detail::EulerXYZ<T> rotate(const detail::EulerXYZ<T> &a, const RotT &b)
[[nodiscard]] EulerXYZBase<T> rotate(const EulerXYZBase<T> &a, const RotT &b)
{
MatBase<T, 3, 3> tmp = from_rotation<MatBase<T, 3, 3>>(a) * from_rotation<MatBase<T, 3, 3>>(b);
return to_euler(tmp);
}
template<typename T, typename RotT>
[[nodiscard]] detail::Euler3<T> rotate(const detail::Euler3<T> &a, const RotT &b)
[[nodiscard]] Euler3Base<T> rotate(const Euler3Base<T> &a, const RotT &b)
{
const MatBase<T, 3, 3> tmp = from_rotation<MatBase<T, 3, 3>>(a) *
from_rotation<MatBase<T, 3, 3>>(b);
@ -219,14 +215,14 @@ template<typename T, typename RotT>
}
template<typename T>
[[nodiscard]] detail::Quaternion<T> rotation_between(const detail::Quaternion<T> &a,
const detail::Quaternion<T> &b)
[[nodiscard]] QuaternionBase<T> rotation_between(const QuaternionBase<T> &a,
const QuaternionBase<T> &b)
{
return invert(a) * b;
}
template<typename T>
[[nodiscard]] detail::Quaternion<T> from_triangle(const VecBase<T, 3> &v1,
[[nodiscard]] QuaternionBase<T> from_triangle(const VecBase<T, 3> &v1,
const VecBase<T, 3> &v2,
const VecBase<T, 3> &v3,
const VecBase<T, 3> &normal)
@ -246,7 +242,7 @@ template<typename T>
T angle = T(-0.5) * math::safe_acos(z_axis.z);
T si = math::sin(angle);
detail::Quaternion<T> q1(math::cos(angle), nor.x * si, nor.y * si, T(0));
QuaternionBase<T> q1(math::cos(angle), nor.x * si, nor.y * si, T(0));
/* Rotate back line v1-v2. */
Vec3T line = transform_point(conjugate(q1), (v2 - v1));
@ -254,13 +250,13 @@ template<typename T>
line = normalize(Vec3T(line.x, line.y, T(0)));
angle = T(0.5) * math::atan2(line.y, line.x);
detail::Quaternion<T> q2(math::cos(angle), 0.0, 0.0, math::sin(angle));
QuaternionBase<T> q2(math::cos(angle), 0.0, 0.0, math::sin(angle));
return q1 * q2;
}
template<typename T>
[[nodiscard]] detail::Quaternion<T> from_triangle(const VecBase<T, 3> &v1,
[[nodiscard]] QuaternionBase<T> from_triangle(const VecBase<T, 3> &v1,
const VecBase<T, 3> &v2,
const VecBase<T, 3> &v3)
{
@ -268,7 +264,7 @@ template<typename T>
}
template<typename T>
[[nodiscard]] detail::Quaternion<T> from_vector(const VecBase<T, 3> &vector,
[[nodiscard]] QuaternionBase<T> from_vector(const VecBase<T, 3> &vector,
const AxisSigned track_flag,
const Axis up_flag)
{
@ -279,7 +275,7 @@ template<typename T>
const T vec_len = length(vector);
if (UNLIKELY(vec_len == 0.0f)) {
return detail::Quaternion<T>::identity();
return QuaternionBase<T>::identity();
}
const Axis axis = track_flag.axis();
@ -313,8 +309,8 @@ template<typename T>
* Avoiding the need for safe_acos and deriving sin from cos. */
const T rotation_angle = math::safe_acos(vec[axis.as_int()] / vec_len);
const detail::Quaternion<T> q1 = to_quaternion(
detail::AxisAngle<T, detail::AngleRadian<T>>(rotation_axis, rotation_angle));
const QuaternionBase<T> q1 = to_quaternion(
AxisAngleBase<T, AngleRadianBase<T>>(rotation_axis, rotation_angle));
if (axis == up_flag) {
/* Nothing else to do. */
@ -341,27 +337,26 @@ template<typename T>
projected = -projected;
}
const detail::AngleCartesian<T> angle(projected.x, projected.y);
const detail::AngleCartesian<T> half_angle = angle / T(2);
const AngleCartesianBase<T> angle(projected.x, projected.y);
const AngleCartesianBase<T> half_angle = angle / T(2);
const detail::Quaternion<T> q2(Vec4T(half_angle.cos(), vec * (half_angle.sin() / vec_len)));
const QuaternionBase<T> q2(Vec4T(half_angle.cos(), vec * (half_angle.sin() / vec_len)));
return q2 * q1;
}
template<typename T>
[[nodiscard]] detail::Quaternion<T> from_tracking(AxisSigned forward_axis, Axis up_axis)
[[nodiscard]] QuaternionBase<T> from_tracking(AxisSigned forward_axis, Axis up_axis)
{
BLI_assert(forward_axis.axis() != up_axis);
/* Curve have Z forward, Y up, X left. */
return detail::Quaternion<T>(
return QuaternionBase<T>(
rotation_between(from_orthonormal_axes(AxisSigned::Z_POS, AxisSigned::Y_POS),
from_orthonormal_axes(forward_axis, AxisSigned(up_axis))));
}
template<typename T>
[[nodiscard]] MatBase<T, 3, 3> to_gimbal_axis(const detail::Euler3<T> &rotation)
template<typename T> [[nodiscard]] MatBase<T, 3, 3> to_gimbal_axis(const Euler3Base<T> &rotation)
{
using Mat3T = MatBase<T, 3, 3>;
using Vec3T = VecBase<T, 3>;
@ -373,7 +368,7 @@ template<typename T>
/* First axis is local. */
result[i_index] = from_rotation<Mat3T>(rotation)[i_index];
/* Second axis is local minus first rotation. */
detail::Euler3<T> tmp_rot = rotation;
Euler3Base<T> tmp_rot = rotation;
tmp_rot.i() = T(0);
result[j_index] = from_rotation<Mat3T>(tmp_rot)[j_index];
/* Last axis is global. */
@ -393,7 +388,7 @@ template<typename T>
* Creates a quaternion from an axis triple.
* This is faster and more precise than converting from another representation.
*/
template<typename T> detail::Quaternion<T> to_quaternion(const CartesianBasis &rotation)
template<typename T> QuaternionBase<T> to_quaternion(const CartesianBasis &rotation)
{
/**
* There are only 6 * 4 = 24 possible valid orthonormal orientations.
@ -406,53 +401,53 @@ template<typename T> detail::Quaternion<T> to_quaternion(const CartesianBasis &r
switch (map(rotation.axes.x, rotation.axes.y, rotation.axes.z)) {
default:
return detail::Quaternion<T>::identity();
return QuaternionBase<T>::identity();
case map(AxisSigned::Z_POS, AxisSigned::X_POS, AxisSigned::Y_POS):
return detail::Quaternion<T>{T(0.5), T(-0.5), T(-0.5), T(-0.5)};
return QuaternionBase<T>{T(0.5), T(-0.5), T(-0.5), T(-0.5)};
case map(AxisSigned::Y_NEG, AxisSigned::X_POS, AxisSigned::Z_POS):
return detail::Quaternion<T>{T(M_SQRT1_2), T(0), T(0), T(-M_SQRT1_2)};
return QuaternionBase<T>{T(M_SQRT1_2), T(0), T(0), T(-M_SQRT1_2)};
case map(AxisSigned::Z_NEG, AxisSigned::X_POS, AxisSigned::Y_NEG):
return detail::Quaternion<T>{T(0.5), T(0.5), T(0.5), T(-0.5)};
return QuaternionBase<T>{T(0.5), T(0.5), T(0.5), T(-0.5)};
case map(AxisSigned::Y_POS, AxisSigned::X_POS, AxisSigned::Z_NEG):
return detail::Quaternion<T>{T(0), T(M_SQRT1_2), T(M_SQRT1_2), T(0)};
return QuaternionBase<T>{T(0), T(M_SQRT1_2), T(M_SQRT1_2), T(0)};
case map(AxisSigned::Z_NEG, AxisSigned::Y_POS, AxisSigned::X_POS):
return detail::Quaternion<T>{T(M_SQRT1_2), T(0), T(M_SQRT1_2), T(0)};
return QuaternionBase<T>{T(M_SQRT1_2), T(0), T(M_SQRT1_2), T(0)};
case map(AxisSigned::Z_POS, AxisSigned::Y_POS, AxisSigned::X_NEG):
return detail::Quaternion<T>{T(M_SQRT1_2), T(0), T(-M_SQRT1_2), T(0)};
return QuaternionBase<T>{T(M_SQRT1_2), T(0), T(-M_SQRT1_2), T(0)};
case map(AxisSigned::X_NEG, AxisSigned::Y_POS, AxisSigned::Z_NEG):
return detail::Quaternion<T>{T(0), T(0), T(1), T(0)};
return QuaternionBase<T>{T(0), T(0), T(1), T(0)};
case map(AxisSigned::Y_POS, AxisSigned::Z_POS, AxisSigned::X_POS):
return detail::Quaternion<T>{T(0.5), T(0.5), T(0.5), T(0.5)};
return QuaternionBase<T>{T(0.5), T(0.5), T(0.5), T(0.5)};
case map(AxisSigned::X_NEG, AxisSigned::Z_POS, AxisSigned::Y_POS):
return detail::Quaternion<T>{T(0), T(0), T(M_SQRT1_2), T(M_SQRT1_2)};
return QuaternionBase<T>{T(0), T(0), T(M_SQRT1_2), T(M_SQRT1_2)};
case map(AxisSigned::Y_NEG, AxisSigned::Z_POS, AxisSigned::X_NEG):
return detail::Quaternion<T>{T(0.5), T(0.5), T(-0.5), T(-0.5)};
return QuaternionBase<T>{T(0.5), T(0.5), T(-0.5), T(-0.5)};
case map(AxisSigned::X_POS, AxisSigned::Z_POS, AxisSigned::Y_NEG):
return detail::Quaternion<T>{T(M_SQRT1_2), T(M_SQRT1_2), T(0), T(0)};
return QuaternionBase<T>{T(M_SQRT1_2), T(M_SQRT1_2), T(0), T(0)};
case map(AxisSigned::Z_NEG, AxisSigned::X_NEG, AxisSigned::Y_POS):
return detail::Quaternion<T>{T(0.5), T(-0.5), T(0.5), T(0.5)};
return QuaternionBase<T>{T(0.5), T(-0.5), T(0.5), T(0.5)};
case map(AxisSigned::Y_POS, AxisSigned::X_NEG, AxisSigned::Z_POS):
return detail::Quaternion<T>{T(M_SQRT1_2), T(0), T(0), T(M_SQRT1_2)};
return QuaternionBase<T>{T(M_SQRT1_2), T(0), T(0), T(M_SQRT1_2)};
case map(AxisSigned::Z_POS, AxisSigned::X_NEG, AxisSigned::Y_NEG):
return detail::Quaternion<T>{T(0.5), T(0.5), T(-0.5), T(0.5)};
return QuaternionBase<T>{T(0.5), T(0.5), T(-0.5), T(0.5)};
case map(AxisSigned::Y_NEG, AxisSigned::X_NEG, AxisSigned::Z_NEG):
return detail::Quaternion<T>{T(0), T(-M_SQRT1_2), T(M_SQRT1_2), T(0)};
return QuaternionBase<T>{T(0), T(-M_SQRT1_2), T(M_SQRT1_2), T(0)};
case map(AxisSigned::Z_POS, AxisSigned::Y_NEG, AxisSigned::X_POS):
return detail::Quaternion<T>{T(0), T(M_SQRT1_2), T(0), T(M_SQRT1_2)};
return QuaternionBase<T>{T(0), T(M_SQRT1_2), T(0), T(M_SQRT1_2)};
case map(AxisSigned::X_NEG, AxisSigned::Y_NEG, AxisSigned::Z_POS):
return detail::Quaternion<T>{T(0), T(0), T(0), T(1)};
return QuaternionBase<T>{T(0), T(0), T(0), T(1)};
case map(AxisSigned::Z_NEG, AxisSigned::Y_NEG, AxisSigned::X_NEG):
return detail::Quaternion<T>{T(0), T(-M_SQRT1_2), T(0), T(M_SQRT1_2)};
return QuaternionBase<T>{T(0), T(-M_SQRT1_2), T(0), T(M_SQRT1_2)};
case map(AxisSigned::X_POS, AxisSigned::Y_NEG, AxisSigned::Z_NEG):
return detail::Quaternion<T>{T(0), T(1), T(0), T(0)};
return QuaternionBase<T>{T(0), T(1), T(0), T(0)};
case map(AxisSigned::Y_NEG, AxisSigned::Z_NEG, AxisSigned::X_POS):
return detail::Quaternion<T>{T(0.5), T(-0.5), T(0.5), T(-0.5)};
return QuaternionBase<T>{T(0.5), T(-0.5), T(0.5), T(-0.5)};
case map(AxisSigned::X_POS, AxisSigned::Z_NEG, AxisSigned::Y_POS):
return detail::Quaternion<T>{T(M_SQRT1_2), T(-M_SQRT1_2), T(0), T(0)};
return QuaternionBase<T>{T(M_SQRT1_2), T(-M_SQRT1_2), T(0), T(0)};
case map(AxisSigned::Y_POS, AxisSigned::Z_NEG, AxisSigned::X_NEG):
return detail::Quaternion<T>{T(0.5), T(-0.5), T(-0.5), T(0.5)};
return QuaternionBase<T>{T(0.5), T(-0.5), T(-0.5), T(0.5)};
case map(AxisSigned::X_NEG, AxisSigned::Z_NEG, AxisSigned::Y_NEG):
return detail::Quaternion<T>{T(0), T(0), T(-M_SQRT1_2), T(M_SQRT1_2)};
return QuaternionBase<T>{T(0), T(0), T(-M_SQRT1_2), T(M_SQRT1_2)};
}
}

50
source/blender/blenlib/intern/math_matrix.cc
View File

@ -339,9 +339,9 @@ MatBase<T, 3, 3> interpolate(const MatBase<T, 3, 3> &A, const MatBase<T, 3, 3> &
P_B = -P_B;
}
detail::Quaternion<T> quat_A = math::to_quaternion(normalize(U_A));
detail::Quaternion<T> quat_B = math::to_quaternion(normalize(U_B));
detail::Quaternion<T> quat = math::interpolate(quat_A, quat_B, t);
QuaternionBase<T> quat_A = math::to_quaternion(normalize(U_A));
QuaternionBase<T> quat_B = math::to_quaternion(normalize(U_B));
QuaternionBase<T> quat = math::interpolate(quat_A, quat_B, t);
Mat3T U = from_rotation<Mat3T>(quat);
Mat3T P = interpolate_linear(P_A, P_B, t);
@ -372,7 +372,7 @@ template double4x4 interpolate(const double4x4 &a, const double4x4 &b, double t)
template<typename T>
MatBase<T, 3, 3> interpolate_fast(const MatBase<T, 3, 3> &a, const MatBase<T, 3, 3> &b, T t)
{
using QuaternionT = detail::Quaternion<T>;
using QuaternionT = QuaternionBase<T>;
using Vec3T = typename MatBase<T, 3, 3>::vec3_type;
Vec3T a_scale, b_scale;
@ -391,7 +391,7 @@ template double3x3 interpolate_fast(const double3x3 &a, const double3x3 &b, doub
template<typename T>
MatBase<T, 4, 4> interpolate_fast(const MatBase<T, 4, 4> &a, const MatBase<T, 4, 4> &b, T t)
{
using QuaternionT = detail::Quaternion<T>;
using QuaternionT = QuaternionBase<T>;
using Vec3T = typename MatBase<T, 3, 3>::vec3_type;
Vec3T a_loc, b_loc;
@ -447,30 +447,30 @@ Quaternion to_quaternion_legacy(const float3x3 &mat)
namespace detail {
template void normalized_to_eul2(const float3x3 &mat,
detail::Euler3<float> &eul1,
detail::Euler3<float> &eul2);
Euler3Base<float> &eul1,
Euler3Base<float> &eul2);
template void normalized_to_eul2(const float3x3 &mat,
detail::EulerXYZ<float> &eul1,
detail::EulerXYZ<float> &eul2);
EulerXYZBase<float> &eul1,
EulerXYZBase<float> &eul2);
template void normalized_to_eul2(const double3x3 &mat,
detail::EulerXYZ<double> &eul1,
detail::EulerXYZ<double> &eul2);
EulerXYZBase<double> &eul1,
EulerXYZBase<double> &eul2);
template detail::Quaternion<float> normalized_to_quat_with_checks(const float3x3 &mat);
template detail::Quaternion<double> normalized_to_quat_with_checks(const double3x3 &mat);
template QuaternionBase<float> normalized_to_quat_with_checks(const float3x3 &mat);
template QuaternionBase<double> normalized_to_quat_with_checks(const double3x3 &mat);
template MatBase<float, 2, 2> from_rotation(const detail::AngleRadian<float> &rotation);
template MatBase<float, 3, 3> from_rotation(const detail::AngleRadian<float> &rotation);
template MatBase<float, 3, 3> from_rotation(const detail::EulerXYZ<float> &rotation);
template MatBase<float, 4, 4> from_rotation(const detail::EulerXYZ<float> &rotation);
template MatBase<float, 3, 3> from_rotation(const detail::Euler3<float> &rotation);
template MatBase<float, 4, 4> from_rotation(const detail::Euler3<float> &rotation);
template MatBase<float, 3, 3> from_rotation(const detail::Quaternion<float> &rotation);
template MatBase<float, 4, 4> from_rotation(const detail::Quaternion<float> &rotation);
template MatBase<float, 3, 3> from_rotation(const math::AxisAngle &rotation);
template MatBase<float, 4, 4> from_rotation(const math::AxisAngle &rotation);
template MatBase<float, 3, 3> from_rotation(const math::AxisAngleCartesian &rotation);
template MatBase<float, 4, 4> from_rotation(const math::AxisAngleCartesian &rotation);
template MatBase<float, 2, 2> from_rotation(const AngleRadian &rotation);
template MatBase<float, 3, 3> from_rotation(const AngleRadian &rotation);
template MatBase<float, 3, 3> from_rotation(const EulerXYZ &rotation);
template MatBase<float, 4, 4> from_rotation(const EulerXYZ &rotation);
template MatBase<float, 3, 3> from_rotation(const Euler3 &rotation);
template MatBase<float, 4, 4> from_rotation(const Euler3 &rotation);
template MatBase<float, 3, 3> from_rotation(const Quaternion &rotation);
template MatBase<float, 4, 4> from_rotation(const Quaternion &rotation);
template MatBase<float, 3, 3> from_rotation(const AxisAngle &rotation);
template MatBase<float, 4, 4> from_rotation(const AxisAngle &rotation);
template MatBase<float, 3, 3> from_rotation(const AxisAngleCartesian &rotation);
template MatBase<float, 4, 4> from_rotation(const AxisAngleCartesian &rotation);
} // namespace detail