Joshua Leung
01b4caa701
* Added a 'rotOrder' parameter for constraint evaluation objects and constraint targets, which describes the rotation mode used for the matrices there. Todos: * Constraint targets default to using XYZ only for now. This will need be be addressed eventually. * Copy Rotation constraint currently cannot use the new rotation order code for the target matrix. What's surprising is that even though it's just using XYZ as the old code did, it doesn't work, and yet everything else works nicely. Silly constraint! (it is almost impossible to improve this constraint further without breaking a rig out there)
544 lines
17 KiB
C++
544 lines
17 KiB
C++
#undef TEST_ACTIVE
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//#define ACTIVE 1
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/**
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* blenlib/BLI_arithb.h mar 2001 Nzc
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*
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* $Id$
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*
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL LICENSE BLOCK *****
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* */
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#ifndef BLI_ARITHB_H
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#define BLI_ARITHB_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#ifdef WIN32
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#define _USE_MATH_DEFINES
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#endif
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#include <math.h>
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#ifndef M_PI
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#define M_PI 3.14159265358979323846
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#endif
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#ifndef M_PI_2
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#define M_PI_2 1.57079632679489661923
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#endif
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#ifndef M_SQRT2
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#define M_SQRT2 1.41421356237309504880
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#endif
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#ifndef M_SQRT1_2
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#define M_SQRT1_2 0.70710678118654752440
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#endif
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#ifndef M_1_PI
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#define M_1_PI 0.318309886183790671538
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#endif
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#ifndef M_E
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#define M_E 2.7182818284590452354
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#endif
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#ifndef M_LOG2E
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#define M_LOG2E 1.4426950408889634074
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#endif
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#ifndef M_LOG10E
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#define M_LOG10E 0.43429448190325182765
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#endif
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#ifndef M_LN2
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#define M_LN2 0.69314718055994530942
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#endif
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#ifndef M_LN10
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#define M_LN10 2.30258509299404568402
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#endif
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#ifndef sqrtf
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#define sqrtf(a) ((float)sqrt(a))
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#endif
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#ifndef powf
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#define powf(a, b) ((float)pow(a, b))
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#endif
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#ifndef cosf
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#define cosf(a) ((float)cos(a))
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#endif
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#ifndef sinf
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#define sinf(a) ((float)sin(a))
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#endif
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#ifndef acosf
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#define acosf(a) ((float)acos(a))
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#endif
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#ifndef asinf
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#define asinf(a) ((float)asin(a))
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#endif
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#ifndef atan2f
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#define atan2f(a, b) ((float)atan2(a, b))
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#endif
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#ifndef tanf
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#define tanf(a) ((float)tan(a))
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#endif
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#ifndef atanf
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#define atanf(a) ((float)atan(a))
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#endif
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#ifndef floorf
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#define floorf(a) ((float)floor(a))
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#endif
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#ifndef ceilf
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#define ceilf(a) ((float)ceil(a))
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#endif
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#ifndef fabsf
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#define fabsf(a) ((float)fabs(a))
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#endif
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#ifndef logf
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#define logf(a) ((float)log(a))
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#endif
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#ifndef expf
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#define expf(a) ((float)exp(a))
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#endif
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#ifndef fmodf
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#define fmodf(a, b) ((float)fmod(a, b))
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#endif
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#ifdef WIN32
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#ifndef FREE_WINDOWS
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#define isnan(n) _isnan(n)
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#define finite _finite
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#endif
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#endif
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#define MAT4_UNITY {{ 1.0, 0.0, 0.0, 0.0},\
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{ 0.0, 1.0, 0.0, 0.0},\
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{ 0.0, 0.0, 1.0, 0.0},\
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{ 0.0, 0.0, 0.0, 1.0}}
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#define MAT3_UNITY {{ 1.0, 0.0, 0.0},\
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{ 0.0, 1.0, 0.0},\
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{ 0.0, 0.0, 1.0}}
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void CalcCent3f(float *cent, float *v1, float *v2, float *v3);
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void CalcCent4f(float *cent, float *v1, float *v2, float *v3, float *v4);
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void Crossf(float *c, float *a, float *b);
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void Projf(float *c, float *v1, float *v2);
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float Inpf(float *v1, float *v2);
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float Inp2f(float *v1, float *v2);
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float Normalize(float *n);
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float Normalize2(float *n);
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float Sqrt3f(float f);
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double Sqrt3d(double d);
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float saacos(float fac);
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float saasin(float fac);
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float sasqrt(float fac);
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float saacosf(float fac);
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float saasinf(float fac);
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float sasqrtf(float fac);
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int FloatCompare(float *v1, float *v2, float limit);
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int FloatCompare4(float *v1, float *v2, float limit);
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float FloatLerpf(float target, float origin, float fac);
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float CalcNormFloat(float *v1, float *v2, float *v3, float *n);
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float CalcNormFloat4(float *v1, float *v2, float *v3, float *v4, float *n);
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void CalcNormLong(int *v1, int *v2, int *v3, float *n);
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/* CalcNormShort: is ook uitprodukt - (translates as 'is also out/cross product') */
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void CalcNormShort(short *v1, short *v2, short *v3, float *n);
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float power_of_2(float val);
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/**
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* @section Euler conversion routines (With Custom Order)
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*/
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/* Defines for rotation orders
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* WARNING: must match the ePchan_RotMode in DNA_action_types.h
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* order matters - types are saved to file!
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*/
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typedef enum eEulerRotationOrders {
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EULER_ORDER_DEFAULT = 1, /* Blender 'default' (classic) is basically XYZ */
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EULER_ORDER_XYZ = 1, /* Blender 'default' (classic) - must be as 1 to sync with PoseChannel rotmode */
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EULER_ORDER_XZY,
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EULER_ORDER_YXZ,
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EULER_ORDER_YZX,
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EULER_ORDER_ZXY,
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EULER_ORDER_ZYX,
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/* NOTE: there are about 6 more entries when including duplicated entries too */
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} eEulerRotationOrders;
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void EulOToQuat(float eul[3], short order, float quat[4]);
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void QuatToEulO(float quat[4], float eul[3], short order);
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void EulOToMat3(float eul[3], short order, float Mat[3][3]);
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void EulOToMat4(float eul[3], short order, float Mat[4][4]);
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void Mat3ToEulO(float Mat[3][3], float eul[3], short order);
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void Mat4ToEulO(float Mat[4][4], float eul[3], short order);
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void Mat3ToCompatibleEulO(float mat[3][3], float eul[3], float oldrot[3], short order);
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void eulerO_rot(float beul[3], float ang, char axis, short order);
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/**
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* @section Euler conversion routines (Blender XYZ)
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*/
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void EulToMat3(float *eul, float mat[][3]);
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void EulToMat4(float *eul, float mat[][4]);
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void Mat3ToEul(float tmat[][3], float *eul);
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void Mat4ToEul(float tmat[][4],float *eul);
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void EulToQuat(float *eul, float *quat);
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void Mat3ToCompatibleEul(float mat[][3], float *eul, float *oldrot);
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void compatible_eul(float *eul, float *oldrot);
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void euler_rot(float *beul, float ang, char axis);
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/**
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* @section Quaternion arithmetic routines
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*/
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int QuatIsNul(float *q);
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void QuatToEul(float *quat, float *eul);
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void QuatOne(float *);
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void QuatMul(float *, float *, float *);
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void QuatMulVecf(float *q, float *v);
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void QuatMulf(float *q, float f);
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void QuatMulFac(float *q, float fac);
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void NormalQuat(float *);
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void VecRotToQuat(float *vec, float phi, float *quat);
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void QuatSub(float *q, float *q1, float *q2);
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void QuatConj(float *q);
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void QuatInv(float *q);
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float QuatDot(float *q1, float *q2);
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void QuatCopy(float *q1, float *q2);
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void printquat(char *str, float q[4]);
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void QuatInterpol(float *result, float *quat1, float *quat2, float t);
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void QuatAdd(float *result, float *quat1, float *quat2, float t);
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void QuatToMat3(float *q, float m[][3]);
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void QuatToMat4(float *q, float m[][4]);
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/**
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* @section matrix multiplication and copying routines
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*/
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void Mat3MulFloat(float *m, float f);
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void Mat4MulFloat(float *m, float f);
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void Mat4MulFloat3(float *m, float f);
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void Mat3Transp(float mat[][3]);
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void Mat4Transp(float mat[][4]);
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int Mat4Invert(float inverse[][4], float mat[][4]);
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void Mat4InvertSimp(float inverse[][4], float mat[][4]);
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void Mat4Inv(float *m1, float *m2);
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void Mat4InvGG(float out[][4], float in[][4]);
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void Mat3Inv(float m1[][3], float m2[][3]);
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void Mat3CpyMat4(float m1[][3],float m2[][4]);
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void Mat4CpyMat3(float m1[][4], float m2[][3]);
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void Mat3BlendMat3(float out[][3], float dst[][3], float src[][3], float srcweight);
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void Mat4BlendMat4(float out[][4], float dst[][4], float src[][4], float srcweight);
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float Det2x2(float a,float b,float c, float d);
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float Det3x3(
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float a1, float a2, float a3,
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float b1, float b2, float b3,
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float c1, float c2, float c3
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);
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float Det4x4(float m[][4]);
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void Mat3Adj(float m1[][3], float m[][3]);
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void Mat4Adj(float out[][4], float in[][4]);
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void Mat4MulMat4(float m1[][4], float m2[][4], float m3[][4]);
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void subMat4MulMat4(float *m1, float *m2, float *m3);
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#ifndef TEST_ACTIVE
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void Mat3MulMat3(float m1[][3], float m3[][3], float m2[][3]);
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#else
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void Mat3MulMat3(float *m1, float *m3, float *m2);
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#endif
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void Mat4MulMat34(float (*m1)[4], float (*m3)[3], float (*m2)[4]);
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void Mat4CpyMat4(float m1[][4], float m2[][4]);
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void Mat4SwapMat4(float *m1, float *m2);
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void Mat3CpyMat3(float m1[][3], float m2[][3]);
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void Mat3MulSerie(float answ[][3],
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float m1[][3], float m2[][3], float m3[][3],
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float m4[][3], float m5[][3], float m6[][3],
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float m7[][3], float m8[][3]
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);
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void Mat4MulSerie(float answ[][4], float m1[][4],
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float m2[][4], float m3[][4], float m4[][4],
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float m5[][4], float m6[][4], float m7[][4],
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float m8[][4]
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);
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void Mat4Clr(float *m);
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void Mat3Clr(float *m);
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void Mat3One(float m[][3]);
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void Mat4One(float m[][4]);
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void Mat3Ortho(float mat[][3]);
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void Mat4Ortho(float mat[][4]);
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void VecMat4MulVecfl(float *in, float mat[][4], float *vec);
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void Mat4MulMat43(float (*m1)[4], float (*m3)[4], float (*m2)[3]);
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void Mat3IsMat3MulMat4(float m1[][3], float m2[][3], float m3[][4]);
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void Mat4MulVec(float mat[][4],int *vec);
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void Mat4MulVecfl(float mat[][4], float *vec);
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void Mat4Mul3Vecfl(float mat[][4], float *vec);
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void Mat4MulVec3Project(float mat[][4],float *vec);
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void Mat4MulVec4fl(float mat[][4], float *vec);
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void Mat3MulVec(float mat[][3],int *vec);
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void Mat3MulVecfl(float mat[][3], float *vec);
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void Mat3MulVecd(float mat[][3], double *vec);
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void Mat3TransMulVecfl(float mat[][3], float *vec);
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void Mat3AddMat3(float m1[][3], float m2[][3], float m3[][3]);
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void Mat4AddMat4(float m1[][4], float m2[][4], float m3[][4]);
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void VecUpMat3old(float *vec, float mat[][3], short axis);
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void VecUpMat3(float *vec, float mat[][3], short axis);
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void VecRotToMat3(float *vec, float phi, float mat[][3]);
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void VecRotToMat4(float *vec, float phi, float mat[][4]);
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void VecCopyf(float *v1, float *v2);
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int VecLen(int *v1, int *v2);
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float VecLenf(float *v1, float *v2);
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float VecLength(float *v);
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void VecMulf(float *v1, float f);
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void VecNegf(float *v1);
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int VecLenCompare(float *v1, float *v2, float limit);
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int VecCompare(float *v1, float *v2, float limit);
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int VecEqual(float *v1, float *v2);
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int VecIsNull(float *v);
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void printvecf(char *str,float v[3]);
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void printvec4f(char *str, float v[4]);
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void VecAddf(float *v, float *v1, float *v2);
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void VecSubf(float *v, float *v1, float *v2);
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void VecMulVecf(float *v, float *v1, float *v2);
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void VecLerpf(float *target, float *a, float *b, float t);
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void VecMidf(float *v, float *v1, float *v2);
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void VecOrthoBasisf(float *v, float *v1, float *v2);
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float Vec2Lenf(float *v1, float *v2);
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float Vec2Length(float *v);
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void Vec2Mulf(float *v1, float f);
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void Vec2Addf(float *v, float *v1, float *v2);
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void Vec2Subf(float *v, float *v1, float *v2);
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void Vec2Copyf(float *v1, float *v2);
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void Vec2Lerpf(float *target, float *a, float *b, float t);
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void AxisAngleToQuat(float *q, float *axis, float angle);
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void RotationBetweenVectorsToQuat(float *q, float v1[3], float v2[3]);
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void vectoquat(float *vec, short axis, short upflag, float *q);
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float VecAngle2(float *v1, float *v2);
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float VecAngle3(float *v1, float *v2, float *v3);
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float NormalizedVecAngle2(float *v1, float *v2);
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float VecAngle3_2D(float *v1, float *v2, float *v3);
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float NormalizedVecAngle2_2D(float *v1, float *v2);
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void NormalShortToFloat(float *out, short *in);
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void NormalFloatToShort(short *out, float *in);
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float DistVL2Dfl(float *v1, float *v2, float *v3);
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float PdistVL2Dfl(float *v1, float *v2, float *v3);
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float PdistVL3Dfl(float *v1, float *v2, float *v3);
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void PclosestVL3Dfl(float *closest, float *v1, float *v2, float *v3);
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float AreaF2Dfl(float *v1, float *v2, float *v3);
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float AreaQ3Dfl(float *v1, float *v2, float *v3, float *v4);
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float AreaT3Dfl(float *v1, float *v2, float *v3);
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float AreaPoly3Dfl(int nr, float *verts, float *normal);
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/* intersect Line-Line
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return:
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-1: colliniar
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0: no intersection of segments
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1: exact intersection of segments
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2: cross-intersection of segments
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*/
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extern short IsectLL2Df(float *v1, float *v2, float *v3, float *v4);
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extern short IsectLL2Ds(short *v1, short *v2, short *v3, short *v4);
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/*point in tri, 0 no intersection, 1 intersect */
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int IsectPT2Df(float pt[2], float v1[2], float v2[2], float v3[2]);
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/* point in quad, 0 no intersection, 1 intersect */
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int IsectPQ2Df(float pt[2], float v1[2], float v2[2], float v3[2], float v4[2]);
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/* interpolation weights of point in a triangle or quad, v4 may be NULL */
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void InterpWeightsQ3Dfl(float *v1, float *v2, float *v3, float *v4, float *co, float *w);
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/* interpolation weights of point in a polygon with >= 3 vertices */
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void MeanValueWeights(float v[][3], int n, float *co, float *w);
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void i_lookat(
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float vx, float vy,
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float vz, float px,
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float py, float pz,
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float twist, float mat[][4]
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);
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void i_window(
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float left, float right,
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float bottom, float top,
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float nearClip, float farClip,
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float mat[][4]
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);
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#define BLI_CS_SMPTE 0
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#define BLI_CS_REC709 1
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#define BLI_CS_CIE 2
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void hsv_to_rgb(float h, float s, float v, float *r, float *g, float *b);
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void hex_to_rgb(char *hexcol, float *r, float *g, float *b);
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void rgb_to_yuv(float r, float g, float b, float *ly, float *lu, float *lv);
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void yuv_to_rgb(float y, float u, float v, float *lr, float *lg, float *lb);
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void ycc_to_rgb(float y, float cb, float cr, float *lr, float *lg, float *lb);
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void rgb_to_ycc(float r, float g, float b, float *ly, float *lcb, float *lcr);
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void rgb_to_hsv(float r, float g, float b, float *lh, float *ls, float *lv);
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void xyz_to_rgb(float x, float y, float z, float *r, float *g, float *b, int colorspace);
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int constrain_rgb(float *r, float *g, float *b);
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unsigned int hsv_to_cpack(float h, float s, float v);
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unsigned int rgb_to_cpack(float r, float g, float b);
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void cpack_to_rgb(unsigned int col, float *r, float *g, float *b);
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void MinMaxRGB(short c[]);
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void VecStar(float mat[][3],float *vec);
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short EenheidsMat(float mat[][3]);
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void Mat3ToQuat_is_ok(float wmat[][3], float *q);
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void i_ortho(float left, float right, float bottom, float top, float nearClip, float farClip, float matrix[][4]);
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void i_polarview(float dist, float azimuth, float incidence, float twist, float Vm[][4]);
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void i_translate(float Tx, float Ty, float Tz, float mat[][4]);
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void i_multmatrix(float icand[][4], float Vm[][4]);
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void i_rotate(float angle, char axis, float mat[][4]);
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void MinMax3(float *min, float *max, float *vec);
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void SizeToMat3(float *size, float mat[][3]);
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void SizeToMat4(float *size, float mat[][4]);
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float Mat3ToScalef(float mat[][3]);
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float Mat4ToScalef(float mat[][4]);
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void printmatrix3(char *str, float m[][3]);
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void printmatrix4(char *str, float m[][4]);
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/* uit Sig.Proc.85 pag 253 */
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void Mat3ToQuat(float wmat[][3], float *q);
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void Mat4ToQuat(float m[][4], float *q);
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void Mat3ToSize(float mat[][3], float *size);
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void Mat4ToSize(float mat[][4], float *size);
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void triatoquat(float *v1, float *v2, float *v3, float *quat);
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void LocEulSizeToMat4(float mat[4][4], float loc[3], float eul[3], float size[3]);
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void LocEulOSizeToMat4(float mat[4][4], float loc[3], float eul[3], float size[3], short rotOrder);
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void LocQuatSizeToMat4(float mat[4][4], float loc[3], float quat[4], float size[3]);
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void tubemap(float x, float y, float z, float *u, float *v);
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void spheremap(float x, float y, float z, float *u, float *v);
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int LineIntersectLine(float v1[3], float v2[3], float v3[3], float v4[3], float i1[3], float i2[3]);
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int LineIntersectLineStrict(float v1[3], float v2[3], float v3[3], float v4[3], float vi[3], float *lambda);
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int LineIntersectsTriangle(float p1[3], float p2[3], float v0[3], float v1[3], float v2[3], float *lambda, float *uv);
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int RayIntersectsTriangle(float p1[3], float d[3], float v0[3], float v1[3], float v2[3], float *lambda, float *uv);
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int RayIntersectsTriangleThreshold(float p1[3], float d[3], float v0[3], float v1[3], float v2[3], float *lambda, float *uv, float threshold);
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int SweepingSphereIntersectsTriangleUV(float p1[3], float p2[3], float radius, float v0[3], float v1[3], float v2[3], float *lambda, float *ipoint);
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int AxialLineIntersectsTriangle(int axis, float co1[3], float co2[3], float v0[3], float v1[3], float v2[3], float *lambda);
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int AabbIntersectAabb(float min1[3], float max1[3], float min2[3], float max2[3]);
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void VecfCubicInterpol(float *x1, float *v1, float *x2, float *v2, float t, float *x, float *v);
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void PointInQuad2DUV(float v0[2], float v1[2], float v2[2], float v3[2], float pt[2], float *uv);
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void PointInFace2DUV(int isquad, float v0[2], float v1[2], float v2[2], float v3[2], float pt[2], float *uv);
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int IsPointInTri2D(float v1[2], float v2[2], float v3[2], float pt[2]);
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int IsPointInTri2DInts(int x1, int y1, int x2, int y2, int a, int b);
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int point_in_tri_prism(float p[3], float v1[3], float v2[3], float v3[3]);
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float lambda_cp_line_ex(float p[3], float l1[3], float l2[3], float cp[3]);
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typedef struct DualQuat {
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float quat[4];
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float trans[4];
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float scale[4][4];
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float scale_weight;
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} DualQuat;
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void Mat4ToDQuat(float basemat[][4], float mat[][4], DualQuat *dq);
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void DQuatToMat4(DualQuat *dq, float mat[][4]);
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void DQuatAddWeighted(DualQuat *dqsum, DualQuat *dq, float weight);
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void DQuatNormalize(DualQuat *dq, float totweight);
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void DQuatMulVecfl(DualQuat *dq, float *co, float mat[][3]);
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void DQuatCpyDQuat(DualQuat *dq1, DualQuat *dq2);
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/* Tangent stuff */
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typedef struct VertexTangent {
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float tang[3], uv[2];
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struct VertexTangent *next;
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} VertexTangent;
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void sum_or_add_vertex_tangent(void *arena, VertexTangent **vtang, float *tang, float *uv);
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float *find_vertex_tangent(VertexTangent *vtang, float *uv);
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void tangent_from_uv(float *uv1, float *uv2, float *uv3, float *co1, float *co2, float *co3, float *n, float *tang);
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#ifdef __cplusplus
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}
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#endif
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#endif
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