Clément Foucault
4805a54525
The reasoning is that the detail namespace is not to be used outside the module itself. But one might want to use different number types with these templates. The `Base` suffix was chosen in order to be consistent with `MatBase` and `Vector` naming convention.
115 lines
2.9 KiB
C++
115 lines
2.9 KiB
C++
/* SPDX-License-Identifier: GPL-2.0-or-later */
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#pragma once
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/** \file
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* \ingroup bli
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*/
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#include "BLI_math_axis_angle_types.hh"
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#include "BLI_math_euler_types.hh"
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#include "BLI_math_quaternion_types.hh"
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#include "BLI_math_matrix.hh"
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#include "BLI_math_quaternion.hh"
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namespace blender::math {
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/* -------------------------------------------------------------------- */
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/** \name Constructors
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* \{ */
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template<typename T, typename AngleT>
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AxisAngleBase<T, AngleT>::AxisAngleBase(const VecBase<T, 3> &axis, const AngleT &angle)
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{
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BLI_assert(is_unit_scale(axis));
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axis_ = axis;
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angle_ = angle;
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}
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template<typename T, typename AngleT>
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AxisAngleBase<T, AngleT>::AxisAngleBase(const AxisSigned axis, const AngleT &angle)
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{
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axis_ = to_vector<VecBase<T, 3>>(axis);
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angle_ = angle;
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}
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template<typename T, typename AngleT>
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AxisAngleBase<T, AngleT>::AxisAngleBase(const VecBase<T, 3> &from, const VecBase<T, 3> &to)
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{
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BLI_assert(is_unit_scale(from));
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BLI_assert(is_unit_scale(to));
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T sin;
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T cos = dot(from, to);
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axis_ = normalize_and_get_length(cross(from, to), sin);
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if (sin <= FLT_EPSILON) {
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if (cos > T(0)) {
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/* Same vectors, zero rotation... */
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*this = identity();
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return;
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}
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/* Colinear but opposed vectors, 180 rotation... */
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axis_ = normalize(orthogonal(from));
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sin = T(0);
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cos = T(-1);
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}
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/* Avoid calculating the angle if possible. */
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angle_ = AngleT(cos, sin);
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}
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/** \} */
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/* -------------------------------------------------------------------- */
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/** \name Conversion to Quaternions
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* \{ */
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template<typename T, typename AngleT>
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QuaternionBase<T> to_quaternion(const AxisAngleBase<T, AngleT> &axis_angle)
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{
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BLI_assert(math::is_unit_scale(axis_angle.axis()));
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AngleT half_angle = axis_angle.angle() / 2;
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T hs = math::sin(half_angle);
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T hc = math::cos(half_angle);
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VecBase<T, 3> xyz = axis_angle.axis() * hs;
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return QuaternionBase<T>(hc, xyz.x, xyz.y, xyz.z);
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}
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/** \} */
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/* -------------------------------------------------------------------- */
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/** \name Conversion to Euler
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* \{ */
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template<typename T, typename AngleT>
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Euler3Base<T> to_euler(const AxisAngleBase<T, AngleT> &axis_angle, EulerOrder order)
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{
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/* Use quaternions as intermediate representation for now... */
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return to_euler(to_quaternion(axis_angle), order);
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}
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template<typename T, typename AngleT>
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EulerXYZBase<T> to_euler(const AxisAngleBase<T, AngleT> &axis_angle)
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{
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/* Check easy and exact conversions first. */
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const VecBase<T, 3> axis = axis_angle.axis();
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if (axis.x == T(1)) {
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return EulerXYZBase<T>(T(axis_angle.angle()), T(0), T(0));
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}
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else if (axis.y == T(1)) {
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return EulerXYZBase<T>(T(0), T(axis_angle.angle()), T(0));
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}
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else if (axis.z == T(1)) {
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return EulerXYZBase<T>(T(0), T(0), T(axis_angle.angle()));
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}
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/* Use quaternions as intermediate representation for now... */
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return to_euler(to_quaternion(axis_angle));
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}
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/** \} */
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} // namespace blender::math
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