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Fix rotation issues due to matrix to quaternion ambiguities

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Reviewers: mont29

Reviewed By: mont29

Subscribers: mont29

Differential Revision: https://developer.blender.org/D3066
This commit is contained in:
Gaia Clary
2018-02-16 12:37:36 +01:00
parent 233a886ceb
commit 7fdf720fb1
3 changed files with 42 additions and 2 deletions
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14
source/blender/collada/AnimationImporter.cpp
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@@ -780,6 +780,9 @@ void AnimationImporter::apply_matrix_curves(Object *ob, std::vector<FCurve *>& a
std::vector<float>::iterator it; std::vector<float>::iterator it;
float qref[4];
unit_qt(qref);
// sample values at each frame // sample values at each frame
for (it = frames.begin(); it != frames.end(); it++) { for (it = frames.begin(); it != frames.end(); it++) {
float fra = *it; float fra = *it;
@@ -815,7 +818,9 @@ void AnimationImporter::apply_matrix_curves(Object *ob, std::vector<FCurve *>& a
float rot[4], loc[3], scale[3]; float rot[4], loc[3], scale[3];
mat4_to_quat(rot, mat); bc_rotate_from_reference_quat(rot, qref, mat);
copy_qt_qt(qref, rot);
#if 0 #if 0
for (int i = 0 ; i < 4; i++) { for (int i = 0 ; i < 4; i++) {
rot[i] = RAD2DEGF(rot[i]); rot[i] = RAD2DEGF(rot[i]);
@@ -1190,6 +1195,9 @@ void AnimationImporter::add_bone_animation_sampled(Object *ob, std::vector<FCurv
std::sort(frames.begin(), frames.end()); std::sort(frames.begin(), frames.end());
float qref[4];
unit_qt(qref);
std::vector<float>::iterator it; std::vector<float>::iterator it;
// sample values at each frame // sample values at each frame
@@ -1223,7 +1231,9 @@ void AnimationImporter::add_bone_animation_sampled(Object *ob, std::vector<FCurv
float rot[4], loc[3], scale[3]; float rot[4], loc[3], scale[3];
mat4_to_quat(rot, mat); bc_rotate_from_reference_quat(rot, qref, mat);
copy_qt_qt(qref, rot);
copy_v3_v3(loc, mat[3]); copy_v3_v3(loc, mat[3]);
mat4_to_size(scale, mat); mat4_to_size(scale, mat);

29
source/blender/collada/collada_utils.cpp
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@@ -377,6 +377,35 @@ void bc_decompose(float mat[4][4], float *loc, float eul[3], float quat[4], floa
} }
} }
/*
* Create rotation_quaternion from a delta rotation and a reference quat
*
* Input:
* mat_from: The rotation matrix before rotation
* mat_to : The rotation matrix after rotation
* qref : the quat corresponding to mat_from
*
* Output:
* rot : the calculated result (quaternion)
*
*/
void bc_rotate_from_reference_quat(float quat_to[4], float quat_from[4], float mat_to[4][4])
{
float qd[4];
float matd[4][4];
float mati[4][4];
float mat_from[4][4];
quat_to_mat4(mat_from, quat_from);
// Calculate the difference matrix matd between mat_from and mat_to
invert_m4_m4(mati, mat_from);
mul_m4_m4m4(matd, mati, mat_to);
mat4_to_quat(qd, matd);
mul_qt_qtqt(quat_to, quat_from, qd); // rot is the final rotation corresponding to mat_to
}
void bc_triangulate_mesh(Mesh *me) void bc_triangulate_mesh(Mesh *me)
{ {
bool use_beauty = false; bool use_beauty = false;

1
source/blender/collada/collada_utils.h
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@@ -92,6 +92,7 @@ extern void bc_match_scale(Object *ob, UnitConverter &bc_unit, bool scale_to_sce
extern void bc_match_scale(std::vector<Object *> *objects_done, UnitConverter &unit_converter, bool scale_to_scene); extern void bc_match_scale(std::vector<Object *> *objects_done, UnitConverter &unit_converter, bool scale_to_scene);
extern void bc_decompose(float mat[4][4], float *loc, float eul[3], float quat[4], float *size); extern void bc_decompose(float mat[4][4], float *loc, float eul[3], float quat[4], float *size);
extern void bc_rotate_from_reference_quat(float quat_to[4], float quat_from[4], float mat_to[4][4]);
extern void bc_triangulate_mesh(Mesh *me); extern void bc_triangulate_mesh(Mesh *me);
extern bool bc_is_leaf_bone(Bone *bone); extern bool bc_is_leaf_bone(Bone *bone);