a509b8adc9
Run everything thru indent to cleanup spaces vs tabs. Clean up some of the comments by hand. BGL.c was not touched due to all that macro wackyness. There are no functional changes to the code. Pre-indent versions of source are tagged with tag bpy-cleanup-20040925 , just in case.
343 lines
8.5 KiB
C
343 lines
8.5 KiB
C
/*
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* $Id$
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*
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* ***** BEGIN GPL/BL DUAL 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. The Blender
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* Foundation also sells licenses for use in proprietary software under
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* the Blender License. See http://www.blender.org/BL/ for information
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* about this.
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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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*
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* Contributor(s): Joseph Gilbert
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*
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* ***** END GPL/BL DUAL LICENSE BLOCK *****
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*/
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#include "euler.h"
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//doc strings
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char Euler_Zero_doc[] = "() - set all values in the euler to 0";
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char Euler_Unique_doc[] =
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"() - sets the euler rotation a unique shortest arc rotation - tests for gimbal lock";
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char Euler_ToMatrix_doc[] =
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"() - returns a rotation matrix representing the euler rotation";
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char Euler_ToQuat_doc[] =
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"() - returns a quaternion representing the euler rotation";
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//methods table
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struct PyMethodDef Euler_methods[] = {
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{"zero", ( PyCFunction ) Euler_Zero, METH_NOARGS,
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Euler_Zero_doc},
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{"unique", ( PyCFunction ) Euler_Unique, METH_NOARGS,
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Euler_Unique_doc},
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{"toMatrix", ( PyCFunction ) Euler_ToMatrix, METH_NOARGS,
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Euler_ToMatrix_doc},
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{"toQuat", ( PyCFunction ) Euler_ToQuat, METH_NOARGS,
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Euler_ToQuat_doc},
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{NULL, NULL, 0, NULL}
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};
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/*****************************/
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// Euler Python Object
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/*****************************/
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//euler methods
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PyObject *Euler_ToQuat( EulerObject * self )
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{
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float *quat;
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int x;
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for( x = 0; x < 3; x++ ) {
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self->eul[x] *= ( float ) ( Py_PI / 180 );
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}
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quat = PyMem_Malloc( 4 * sizeof( float ) );
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EulToQuat( self->eul, quat );
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for( x = 0; x < 3; x++ ) {
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self->eul[x] *= ( float ) ( 180 / Py_PI );
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}
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return ( PyObject * ) newQuaternionObject( quat );
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}
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PyObject *Euler_ToMatrix( EulerObject * self )
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{
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float *mat;
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int x;
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for( x = 0; x < 3; x++ ) {
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self->eul[x] *= ( float ) ( Py_PI / 180 );
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}
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mat = PyMem_Malloc( 3 * 3 * sizeof( float ) );
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EulToMat3( self->eul, ( float ( * )[3] ) mat );
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for( x = 0; x < 3; x++ ) {
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self->eul[x] *= ( float ) ( 180 / Py_PI );
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}
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return ( PyObject * ) newMatrixObject( mat, 3, 3 );
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}
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PyObject *Euler_Unique( EulerObject * self )
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{
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float heading, pitch, bank;
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float pi2 = ( float ) Py_PI * 2.0f;
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float piO2 = ( float ) Py_PI / 2.0f;
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float Opi2 = 1.0f / pi2;
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//radians
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heading = self->eul[0] * ( float ) ( Py_PI / 180 );
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pitch = self->eul[1] * ( float ) ( Py_PI / 180 );
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bank = self->eul[2] * ( float ) ( Py_PI / 180 );
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//wrap heading in +180 / -180
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pitch += ( float ) Py_PI;
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pitch -= ( float ) floor( pitch * Opi2 ) * pi2;
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pitch -= ( float ) Py_PI;
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if( pitch < -piO2 ) {
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pitch = ( float ) -Py_PI - pitch;
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heading += ( float ) Py_PI;
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bank += ( float ) Py_PI;
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} else if( pitch > piO2 ) {
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pitch = ( float ) Py_PI - pitch;
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heading += ( float ) Py_PI;
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bank += ( float ) Py_PI;
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}
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//gimbal lock test
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if( fabs( pitch ) > piO2 - 1e-4 ) {
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heading += bank;
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bank = 0.0f;
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} else {
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bank += ( float ) Py_PI;
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bank -= ( float ) ( floor( bank * Opi2 ) ) * pi2;
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bank -= ( float ) Py_PI;
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}
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heading += ( float ) Py_PI;
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heading -= ( float ) ( floor( heading * Opi2 ) ) * pi2;
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heading -= ( float ) Py_PI;
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//back to degrees
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self->eul[0] = heading * ( float ) ( 180 / Py_PI );
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self->eul[1] = pitch * ( float ) ( 180 / Py_PI );
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self->eul[2] = bank * ( float ) ( 180 / Py_PI );
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return EXPP_incr_ret( Py_None );
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}
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PyObject *Euler_Zero( EulerObject * self )
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{
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self->eul[0] = 0.0;
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self->eul[1] = 0.0;
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self->eul[2] = 0.0;
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return EXPP_incr_ret( Py_None );
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}
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static void Euler_dealloc( EulerObject * self )
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{
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PyObject_DEL( self );
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}
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static PyObject *Euler_getattr( EulerObject * self, char *name )
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{
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if( ELEM3( name[0], 'x', 'y', 'z' ) && name[1] == 0 ) {
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return PyFloat_FromDouble( self->eul[name[0] - 'x'] );
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}
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return Py_FindMethod( Euler_methods, ( PyObject * ) self, name );
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}
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static int Euler_setattr( EulerObject * self, char *name, PyObject * e )
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{
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float val;
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if( !PyArg_Parse( e, "f", &val ) )
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return EXPP_ReturnIntError( PyExc_TypeError,
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"unable to parse float argument\n" );
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if( ELEM3( name[0], 'x', 'y', 'z' ) && name[1] == 0 ) {
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self->eul[name[0] - 'x'] = val;
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return 0;
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} else
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return -1;
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}
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/* Eulers Sequence methods */
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static PyObject *Euler_item( EulerObject * self, int i )
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{
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if( i < 0 || i >= 3 )
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return EXPP_ReturnPyObjError( PyExc_IndexError,
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"array index out of range\n" );
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return Py_BuildValue( "f", self->eul[i] );
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}
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static PyObject *Euler_slice( EulerObject * self, int begin, int end )
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{
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PyObject *list;
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int count;
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if( begin < 0 )
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begin = 0;
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if( end > 3 )
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end = 3;
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if( begin > end )
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begin = end;
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list = PyList_New( end - begin );
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for( count = begin; count < end; count++ ) {
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PyList_SetItem( list, count - begin,
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PyFloat_FromDouble( self->eul[count] ) );
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}
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return list;
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}
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static int Euler_ass_item( EulerObject * self, int i, PyObject * ob )
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{
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if( i < 0 || i >= 3 )
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return EXPP_ReturnIntError( PyExc_IndexError,
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"array assignment index out of range\n" );
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if( !PyNumber_Check( ob ) )
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return EXPP_ReturnIntError( PyExc_IndexError,
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"Euler member must be a number\n" );
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if( !PyFloat_Check( ob ) && !PyInt_Check( ob ) ) {
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return EXPP_ReturnIntError( PyExc_TypeError,
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"int or float expected\n" );
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} else {
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self->eul[i] = ( float ) PyFloat_AsDouble( ob );
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}
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return 0;
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}
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static int Euler_ass_slice( EulerObject * self, int begin, int end,
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PyObject * seq )
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{
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int count, z;
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if( begin < 0 )
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begin = 0;
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if( end > 3 )
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end = 3;
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if( begin > end )
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begin = end;
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if( !PySequence_Check( seq ) )
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return EXPP_ReturnIntError( PyExc_TypeError,
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"illegal argument type for built-in operation\n" );
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if( PySequence_Length( seq ) != ( end - begin ) )
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return EXPP_ReturnIntError( PyExc_TypeError,
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"size mismatch in slice assignment\n" );
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z = 0;
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for( count = begin; count < end; count++ ) {
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PyObject *ob = PySequence_GetItem( seq, z );
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z++;
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if( !PyFloat_Check( ob ) && !PyInt_Check( ob ) ) {
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Py_DECREF( ob );
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return -1;
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} else {
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if( !PyArg_Parse( ob, "f", &self->eul[count] ) ) {
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Py_DECREF( ob );
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return -1;
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}
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}
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}
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return 0;
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}
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static PyObject *Euler_repr( EulerObject * self )
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{
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int i, maxindex = 3 - 1;
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char ftoa[24];
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PyObject *str1, *str2;
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str1 = PyString_FromString( "[" );
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for( i = 0; i < maxindex; i++ ) {
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sprintf( ftoa, "%.4f, ", self->eul[i] );
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str2 = PyString_FromString( ftoa );
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if( !str1 || !str2 )
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goto error;
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PyString_ConcatAndDel( &str1, str2 );
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}
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sprintf( ftoa, "%.4f]\n", self->eul[maxindex] );
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str2 = PyString_FromString( ftoa );
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if( !str1 || !str2 )
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goto error;
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PyString_ConcatAndDel( &str1, str2 );
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if( str1 )
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return str1;
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error:
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Py_XDECREF( str1 );
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Py_XDECREF( str2 );
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return EXPP_ReturnPyObjError( PyExc_MemoryError,
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"couldn't create PyString!\n" );
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}
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static PySequenceMethods Euler_SeqMethods = {
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( inquiry ) 0, /* sq_length */
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( binaryfunc ) 0, /* sq_concat */
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( intargfunc ) 0, /* sq_repeat */
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( intargfunc ) Euler_item, /* sq_item */
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( intintargfunc ) Euler_slice, /* sq_slice */
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( intobjargproc ) Euler_ass_item, /* sq_ass_item */
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( intintobjargproc ) Euler_ass_slice, /* sq_ass_slice */
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};
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PyTypeObject euler_Type = {
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PyObject_HEAD_INIT( NULL )
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0, /*ob_size */
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"euler", /*tp_name */
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sizeof( EulerObject ), /*tp_basicsize */
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0, /*tp_itemsize */
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( destructor ) Euler_dealloc, /*tp_dealloc */
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( printfunc ) 0, /*tp_print */
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( getattrfunc ) Euler_getattr, /*tp_getattr */
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( setattrfunc ) Euler_setattr, /*tp_setattr */
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0, /*tp_compare */
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( reprfunc ) Euler_repr, /*tp_repr */
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0, /*tp_as_number */
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&Euler_SeqMethods, /*tp_as_sequence */
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};
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PyObject *newEulerObject( float *eul )
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{
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EulerObject *self;
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int x;
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euler_Type.ob_type = &PyType_Type;
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self = PyObject_NEW( EulerObject, &euler_Type );
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if( !eul ) {
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self->eul = PyMem_Malloc( 3 * sizeof( float ) );
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for( x = 0; x < 3; x++ ) {
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self->eul[x] = 0.0f;
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}
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} else
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self->eul = eul;
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return ( PyObject * ) self;
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}
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