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Made Mathutils use radians rather then degrees. defining USE_MATHUTILS_DEG for testing existing scripts.

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Added conversion for BGE Quaternion WXYZ (Blender/C) -> XYZW (Moto C++).
BGE Python API now uses WXYZ following mathutils (break script warning).
This commit is contained in:
Campbell Barton
2009-06-25 20:47:41 +00:00
parent 47ca543b32
commit 4b914c7f75
9 changed files with 120 additions and 24 deletions
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29
source/blender/python/generic/quat.c
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@@ -77,7 +77,7 @@ static PyObject *Quaternion_new(PyTypeObject *type, PyObject *args, PyObject *kw
{
PyObject *listObject = NULL, *n, *q;
int size, i;
float quat[4], scalar;
float quat[4];
double angle = 0.0f;
size = PyTuple_GET_SIZE(args);
@@ -151,19 +151,21 @@ static PyObject *Quaternion_new(PyTypeObject *type, PyObject *args, PyObject *kw
return NULL;
}
scalar = PyFloat_AsDouble(q);
quat[i] = PyFloat_AsDouble(q);
Py_DECREF(q);
if (scalar==-1 && PyErr_Occurred()) {
if (quat[i]==-1 && PyErr_Occurred()) {
PyErr_SetString(PyExc_TypeError, "Mathutils.Quaternion(): 4d numeric sequence expected or 3d vector and number\n");
return NULL;
}
quat[i] = scalar;
}
if(size == 3) //calculate the quat based on axis/angle
AxisAngleToQuat(quat, quat, angle * (Py_PI / 180)); // TODO - 2.5 use radians, note using quat for src and target is ok here
#ifdef USE_MATHUTILS_DEG
AxisAngleToQuat(quat, quat, angle * (Py_PI / 180));
#else
AxisAngleToQuat(quat, quat, angle);
#endif
return newQuaternionObject(quat, Py_NEW);
}
@@ -189,28 +191,33 @@ static PyObject *Quaternion_ToEuler(QuaternionObject * self, PyObject *args)
if(!BaseMath_ReadCallback(eul_compat))
return NULL;
QuatToMat3(self->quat, mat);
#ifdef USE_MATHUTILS_DEG
for(x = 0; x < 3; x++) {
eul_compatf[x] = eul_compat->eul[x] * ((float)Py_PI / 180);
}
QuatToMat3(self->quat, mat);
Mat3ToCompatibleEul(mat, eul, eul_compatf);
#else
Mat3ToCompatibleEul(mat, eul, eul_compat->eul);
#endif
}
else {
QuatToEul(self->quat, eul);
}
#ifdef USE_MATHUTILS_DEG
for(x = 0; x < 3; x++) {
eul[x] *= (180 / (float)Py_PI);
}
#endif
return newEulerObject(eul, Py_NEW);
}
//----------------------------Quaternion.toMatrix()------------------
//return the quat as a matrix
static PyObject *Quaternion_ToMatrix(QuaternionObject * self)
{
float mat[9] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
float mat[9]; /* all values are set */
if(!BaseMath_ReadCallback(self))
return NULL;
@@ -662,7 +669,9 @@ static PyObject *Quaternion_getAngle( QuaternionObject * self, void *type )
{
double ang = self->quat[0];
ang = 2 * (saacos(ang));
#ifdef USE_MATHUTILS_DEG
ang *= (180 / Py_PI);
#endif
return PyFloat_FromDouble(ang);
}