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mathutils rotate functions for Euler/Quaternion/Matrix/Vector types.

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each accept Euler/Quaternion/Matrix types.

eg:
  Euler.rotate(Quaternion(axis, angle))
  Vector.rotate(Euler((pi/2, 0, 0)))

matrix.resize_4x4() and euler.make_compatible() were still returning an instance of themselves, now return None.
This commit is contained in:
Campbell Barton
2011-02-05 09:57:02 +00:00
parent 8b52087d83
commit 998198a041
9 changed files with 167 additions and 46 deletions
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31
source/blender/python/generic/mathutils_quat.c
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@@ -256,6 +256,36 @@ static PyObject *Quaternion_slerp(QuaternionObject *self, PyObject *args)
return newQuaternionObject(quat, Py_NEW, Py_TYPE(self));
}
static char Quaternion_rotate_doc[] =
".. method:: rotate(other)\n"
"\n"
" Rotates the quaternion a by another mathutils value.\n"
"\n"
" :arg other: rotation component of mathutils value\n"
" :type other: :class:`Euler`, :class:`Quaternion` or :class:`Matrix`\n"
;
static PyObject *Quaternion_rotate(QuaternionObject *self, PyObject *value)
{
float self_rmat[3][3], other_rmat[3][3], rmat[3][3];
float tquat[4], length;
if(!BaseMath_ReadCallback(self))
return NULL;
if(mathutils_any_to_rotmat(other_rmat, value, "quaternion.rotate(value)") == -1)
return NULL;
length= normalize_qt_qt(tquat, self->quat);
quat_to_mat3(self_rmat, tquat);
mul_m3_m3m3(rmat, self_rmat, other_rmat);
mat3_to_quat(self->quat, rmat);
mul_qt_fl(self->quat, length); /* maintain length after rotating */
(void)BaseMath_WriteCallback(self);
Py_RETURN_NONE;
}
//----------------------------Quaternion.normalize()----------------
//normalize the axis of rotation of [theta,vector]
static char Quaternion_normalize_doc[] =
@@ -962,6 +992,7 @@ static struct PyMethodDef Quaternion_methods[] = {
{"dot", (PyCFunction) Quaternion_dot, METH_O, Quaternion_dot_doc},
{"difference", (PyCFunction) Quaternion_difference, METH_O, Quaternion_difference_doc},
{"slerp", (PyCFunction) Quaternion_slerp, METH_VARARGS, Quaternion_slerp_doc},
{"rotate", (PyCFunction) Quaternion_rotate, METH_VARARGS, Quaternion_rotate_doc},
{"__copy__", (PyCFunction) Quaternion_copy, METH_NOARGS, Quaternion_copy_doc},
{"copy", (PyCFunction) Quaternion_copy, METH_NOARGS, Quaternion_copy_doc},