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Math Lib: add rotation_between_vecs_to_mat3

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- behaves like rotation_between_vecs_to_quat
- avoids calling sin,cos calls (approx 1.6x faster).
This commit is contained in:
Campbell Barton
2014-04-19 15:36:47 +10:00
parent fc9c790563
commit fabc46b41f
3 changed files with 57 additions and 1 deletions
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8
source/blender/blenlib/BLI_math_base.h
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@@ -279,18 +279,24 @@ double double_round(double x, int ndigits);
} (void)0
# define BLI_ASSERT_ZERO_M3(m) { \
BLI_assert(dot_vn_vn((const float *)m, (const float *)m, 9) != 0.0); \
BLI_assert(dot_vn_vn((const float *)m, (const float *)m, 9) != 0.0); \
} (void)0
# define BLI_ASSERT_ZERO_M4(m) { \
BLI_assert(dot_vn_vn((const float *)m, (const float *)m, 16) != 0.0); \
} (void)0
# define BLI_ASSERT_UNIT_M3(m) { \
BLI_ASSERT_UNIT_V3((m)[0]); \
BLI_ASSERT_UNIT_V3((m)[1]); \
BLI_ASSERT_UNIT_V3((m)[2]); \
} (void)0
#else
# define BLI_ASSERT_UNIT_V2(v) (void)(v)
# define BLI_ASSERT_UNIT_V3(v) (void)(v)
# define BLI_ASSERT_UNIT_QUAT(v) (void)(v)
# define BLI_ASSERT_ZERO_M3(m) (void)(m)
# define BLI_ASSERT_ZERO_M4(m) (void)(m)
# define BLI_ASSERT_UNIT_M3(m) (void)(m)
#endif
#endif /* __BLI_MATH_BASE_H__ */

1
source/blender/blenlib/BLI_math_rotation.h
View File

@@ -84,6 +84,7 @@ void tri_to_quat_ex(float quat[4], const float v1[3], const float v2[3], const f
float tri_to_quat(float q[4], const float a[3], const float b[3], const float c[3]);
void vec_to_quat(float q[4], const float vec[3], short axis, const short upflag);
/* note: v1 and v2 must be normalized */
void rotation_between_vecs_to_mat3(float m[3][3], const float v1[3], const float v2[3]);
void rotation_between_vecs_to_quat(float q[4], const float v1[3], const float v2[3]);
void rotation_between_quats_to_quat(float q[4], const float q1[4], const float q2[4]);

49
source/blender/blenlib/intern/math_rotation.c
View File

@@ -400,6 +400,55 @@ float normalize_qt_qt(float r[4], const float q[4])
return normalize_qt(r);
}
/**
* Calculate a rotation matrix from 2 normalized vectors.
*
* \note faster then using axis/angle functions.
*/
void rotation_between_vecs_to_mat3(float m[3][3], const float v1[3], const float v2[3])
{
float axis[3];
BLI_ASSERT_UNIT_V3(v1);
BLI_ASSERT_UNIT_V3(v2);
cross_v3_v3v3(axis, v1, v2);
if (normalize_v3(axis) > FLT_EPSILON) {
float m1[3][3], m2[3][3];
axis_calc:
BLI_ASSERT_UNIT_V3(axis);
copy_v3_v3(m1[0], v1);
copy_v3_v3(m2[0], v2);
copy_v3_v3(m1[1], axis);
copy_v3_v3(m2[1], axis);
cross_v3_v3v3(m1[2], m1[1], m1[0]);
cross_v3_v3v3(m2[2], m2[1], m2[0]);
transpose_m3(m2);
mul_m3_m3m3(m, m1, m2);
transpose_m3(m);
BLI_ASSERT_UNIT_M3(m);
}
else {
if (dot_v3v3(v1, v2) > 0.0f) {
/* Same vectors, zero rotation... */
unit_m3(m);
}
else {
/* Colinear but opposed vectors, 180 rotation... */
ortho_v3_v3(axis, v1);
normalize_v3(axis);
goto axis_calc;
}
}
}
/* note: expects vectors to be normalized */
void rotation_between_vecs_to_quat(float q[4], const float v1[3], const float v2[3])
{