Campbell Barton
478dc000b3
* Vector.difference() needed normalized vectors * bpy.DEUBG -> bpy.app.debug
960 lines
28 KiB
C
960 lines
28 KiB
C
/*
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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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*
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* Contributor(s): Joseph Gilbert
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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#include "Mathutils.h"
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#include "BLI_math.h"
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#include "BKE_utildefines.h"
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#include "BLI_blenlib.h"
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//-----------------------------METHODS------------------------------
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static char Quaternion_ToEuler_doc[] =
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".. method:: to_euler(euler_compat)\n"
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"\n"
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" Return Euler representation of the quaternion.\n"
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"\n"
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" :arg euler_compat: Optional euler argument the new euler will be made compatible with (no axis flipping between them). Useful for converting a series of matrices to animation curves.\n"
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" :type euler_compat: :class:`Euler`\n"
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" :return: Euler representation of the quaternion.\n"
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" :rtype: :class:`Euler`\n";
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static PyObject *Quaternion_ToEuler(QuaternionObject * self, PyObject *args)
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{
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float eul[3];
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EulerObject *eul_compat = NULL;
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if(!PyArg_ParseTuple(args, "|O!:toEuler", &euler_Type, &eul_compat))
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return NULL;
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if(!BaseMath_ReadCallback(self))
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return NULL;
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if(eul_compat) {
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float mat[3][3];
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if(!BaseMath_ReadCallback(eul_compat))
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return NULL;
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quat_to_mat3( mat,self->quat);
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#ifdef USE_MATHUTILS_DEG
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{
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float eul_compatf[3];
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int x;
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for(x = 0; x < 3; x++) {
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eul_compatf[x] = eul_compat->eul[x] * ((float)Py_PI / 180);
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}
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mat3_to_compatible_eul( eul, eul_compatf,mat);
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}
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#else
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mat3_to_compatible_eul( eul, eul_compat->eul,mat);
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#endif
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}
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else {
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quat_to_eul( eul,self->quat);
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}
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#ifdef USE_MATHUTILS_DEG
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{
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int x;
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for(x = 0; x < 3; x++) {
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eul[x] *= (180 / (float)Py_PI);
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}
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}
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#endif
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return newEulerObject(eul, Py_NEW, NULL);
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}
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//----------------------------Quaternion.toMatrix()------------------
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static char Quaternion_ToMatrix_doc[] =
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".. method:: to_matrix(other)\n"
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"\n"
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" Return a matrix representation of the quaternion.\n"
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"\n"
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" :return: A 3x3 rotation matrix representation of the quaternion.\n"
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" :rtype: :class:`Matrix`\n";
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static PyObject *Quaternion_ToMatrix(QuaternionObject * self)
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{
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float mat[9]; /* all values are set */
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if(!BaseMath_ReadCallback(self))
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return NULL;
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quat_to_mat3( (float (*)[3]) mat,self->quat);
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return newMatrixObject(mat, 3, 3, Py_NEW, NULL);
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}
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//----------------------------Quaternion.cross(other)------------------
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static char Quaternion_Cross_doc[] =
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".. method:: cross(other)\n"
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"\n"
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" Return the cross product of this quaternion and another.\n"
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"\n"
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" :arg other: The other quaternion to perform the cross product with.\n"
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" :type other: :class:`Quaternion`\n"
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" :return: The cross product.\n"
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" :rtype: :class:`Quaternion`\n";
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static PyObject *Quaternion_Cross(QuaternionObject * self, QuaternionObject * value)
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{
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float quat[4];
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if (!QuaternionObject_Check(value)) {
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PyErr_SetString( PyExc_TypeError, "quat.cross(value): expected a quaternion argument" );
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return NULL;
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}
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if(!BaseMath_ReadCallback(self) || !BaseMath_ReadCallback(value))
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return NULL;
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mul_qt_qtqt(quat, self->quat, value->quat);
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return newQuaternionObject(quat, Py_NEW, NULL);
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}
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//----------------------------Quaternion.dot(other)------------------
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static char Quaternion_Dot_doc[] =
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".. method:: dot(other)\n"
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"\n"
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" Return the dot product of this quaternion and another.\n"
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"\n"
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" :arg other: The other quaternion to perform the dot product with.\n"
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" :type other: :class:`Quaternion`\n"
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" :return: The dot product.\n"
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" :rtype: :class:`Quaternion`\n";
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static PyObject *Quaternion_Dot(QuaternionObject * self, QuaternionObject * value)
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{
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if (!QuaternionObject_Check(value)) {
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PyErr_SetString( PyExc_TypeError, "quat.dot(value): expected a quaternion argument" );
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return NULL;
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}
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if(!BaseMath_ReadCallback(self) || !BaseMath_ReadCallback(value))
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return NULL;
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return PyFloat_FromDouble(dot_qtqt(self->quat, value->quat));
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}
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static char Quaternion_Difference_doc[] =
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".. function:: difference(other)\n"
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"\n"
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" Returns a quaternion representing the rotational difference.\n"
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"\n"
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" :arg other: second quaternion.\n"
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" :type other: :class:`Quaternion`\n"
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" :return: the rotational difference between the two quat rotations.\n"
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" :rtype: :class:`Quaternion`\n";
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static PyObject *Quaternion_Difference(QuaternionObject * self, QuaternionObject * value)
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{
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float quat[4], tempQuat[4];
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double dot = 0.0f;
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int x;
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if (!QuaternionObject_Check(value)) {
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PyErr_SetString( PyExc_TypeError, "quat.difference(value): expected a quaternion argument" );
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return NULL;
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}
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if(!BaseMath_ReadCallback(self) || !BaseMath_ReadCallback(value))
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return NULL;
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tempQuat[0] = self->quat[0];
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tempQuat[1] = - self->quat[1];
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tempQuat[2] = - self->quat[2];
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tempQuat[3] = - self->quat[3];
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dot = sqrt(tempQuat[0] * tempQuat[0] + tempQuat[1] * tempQuat[1] +
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tempQuat[2] * tempQuat[2] + tempQuat[3] * tempQuat[3]);
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for(x = 0; x < 4; x++) {
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tempQuat[x] /= (float)(dot * dot);
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}
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mul_qt_qtqt(quat, tempQuat, value->quat);
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return newQuaternionObject(quat, Py_NEW, NULL);
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}
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static char Quaternion_Slerp_doc[] =
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".. function:: slerp(other, factor)\n"
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"\n"
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" Returns the interpolation of two quaternions.\n"
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"\n"
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" :arg other: value to interpolate with.\n"
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" :type other: :class:`Quaternion`\n"
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" :arg factor: The interpolation value in [0.0, 1.0].\n"
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" :type factor: float\n"
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" :return: The interpolated rotation.\n"
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" :rtype: :class:`Quaternion`\n";
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static PyObject *Quaternion_Slerp(QuaternionObject *self, PyObject *args)
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{
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QuaternionObject *value;
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float quat[4], fac;
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if(!PyArg_ParseTuple(args, "O!f", &quaternion_Type, &value, &fac)) {
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PyErr_SetString(PyExc_TypeError, "Mathutils.Slerp(): expected Quaternion types and float");
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return NULL;
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}
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if(!BaseMath_ReadCallback(self) || !BaseMath_ReadCallback(value))
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return NULL;
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if(fac > 1.0f || fac < 0.0f) {
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PyErr_SetString(PyExc_AttributeError, "Mathutils.Slerp(): interpolation factor must be between 0.0 and 1.0");
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return NULL;
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}
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interp_qt_qtqt(quat, self->quat, value->quat, fac);
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return newQuaternionObject(quat, Py_NEW, NULL);
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}
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//----------------------------Quaternion.normalize()----------------
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//normalize the axis of rotation of [theta,vector]
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static char Quaternion_Normalize_doc[] =
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".. function:: normalize()\n"
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"\n"
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" Normalize the quaternion.\n"
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"\n"
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" :return: an instance of itself.\n"
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" :rtype: :class:`Quaternion`\n";
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static PyObject *Quaternion_Normalize(QuaternionObject * self)
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{
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if(!BaseMath_ReadCallback(self))
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return NULL;
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normalize_qt(self->quat);
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BaseMath_WriteCallback(self);
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Py_INCREF(self);
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return (PyObject*)self;
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}
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//----------------------------Quaternion.inverse()------------------
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static char Quaternion_Inverse_doc[] =
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".. function:: inverse()\n"
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"\n"
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" Set the quaternion to its inverse.\n"
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"\n"
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" :return: an instance of itself.\n"
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" :rtype: :class:`Quaternion`\n";
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static PyObject *Quaternion_Inverse(QuaternionObject * self)
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{
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if(!BaseMath_ReadCallback(self))
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return NULL;
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invert_qt(self->quat);
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BaseMath_WriteCallback(self);
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Py_INCREF(self);
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return (PyObject*)self;
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}
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//----------------------------Quaternion.identity()-----------------
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static char Quaternion_Identity_doc[] =
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".. function:: identity()\n"
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"\n"
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" Set the quaternion to an identity quaternion.\n"
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"\n"
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" :return: an instance of itself.\n"
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" :rtype: :class:`Quaternion`\n";
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static PyObject *Quaternion_Identity(QuaternionObject * self)
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{
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if(!BaseMath_ReadCallback(self))
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return NULL;
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unit_qt(self->quat);
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BaseMath_WriteCallback(self);
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Py_INCREF(self);
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return (PyObject*)self;
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}
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//----------------------------Quaternion.negate()-------------------
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static char Quaternion_Negate_doc[] =
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".. function:: negate()\n"
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"\n"
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" Set the quaternion to its negative.\n"
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"\n"
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" :return: an instance of itself.\n"
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" :rtype: :class:`Quaternion`\n";
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static PyObject *Quaternion_Negate(QuaternionObject * self)
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{
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if(!BaseMath_ReadCallback(self))
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return NULL;
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mul_qt_fl(self->quat, -1.0f);
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BaseMath_WriteCallback(self);
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Py_INCREF(self);
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return (PyObject*)self;
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}
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//----------------------------Quaternion.conjugate()----------------
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static char Quaternion_Conjugate_doc[] =
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".. function:: conjugate()\n"
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"\n"
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" Set the quaternion to its conjugate (negate x, y, z).\n"
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"\n"
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" :return: an instance of itself.\n"
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" :rtype: :class:`Quaternion`\n";
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static PyObject *Quaternion_Conjugate(QuaternionObject * self)
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{
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if(!BaseMath_ReadCallback(self))
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return NULL;
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conjugate_qt(self->quat);
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BaseMath_WriteCallback(self);
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Py_INCREF(self);
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return (PyObject*)self;
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}
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//----------------------------Quaternion.copy()----------------
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static char Quaternion_copy_doc[] =
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".. function:: copy()\n"
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"\n"
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" Returns a copy of this quaternion.\n"
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"\n"
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" :return: A copy of the quaternion.\n"
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" :rtype: :class:`Quaternion`\n"
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"\n"
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" .. note:: use this to get a copy of a wrapped quaternion with no reference to the original data.\n";
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static PyObject *Quaternion_copy(QuaternionObject * self)
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{
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if(!BaseMath_ReadCallback(self))
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return NULL;
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return newQuaternionObject(self->quat, Py_NEW, Py_TYPE(self));
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}
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//----------------------------print object (internal)--------------
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//print the object to screen
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static PyObject *Quaternion_repr(QuaternionObject * self)
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{
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char str[64];
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if(!BaseMath_ReadCallback(self))
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return NULL;
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sprintf(str, "[%.6f, %.6f, %.6f, %.6f](quaternion)", self->quat[0], self->quat[1], self->quat[2], self->quat[3]);
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return PyUnicode_FromString(str);
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}
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//------------------------tp_richcmpr
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//returns -1 execption, 0 false, 1 true
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static PyObject* Quaternion_richcmpr(PyObject *objectA, PyObject *objectB, int comparison_type)
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{
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QuaternionObject *quatA = NULL, *quatB = NULL;
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int result = 0;
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if(QuaternionObject_Check(objectA)) {
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quatA = (QuaternionObject*)objectA;
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if(!BaseMath_ReadCallback(quatA))
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return NULL;
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}
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if(QuaternionObject_Check(objectB)) {
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quatB = (QuaternionObject*)objectB;
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if(!BaseMath_ReadCallback(quatB))
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return NULL;
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}
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if (!quatA || !quatB){
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if (comparison_type == Py_NE){
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Py_RETURN_TRUE;
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}else{
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Py_RETURN_FALSE;
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}
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}
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switch (comparison_type){
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case Py_EQ:
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result = EXPP_VectorsAreEqual(quatA->quat, quatB->quat, 4, 1);
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break;
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case Py_NE:
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result = EXPP_VectorsAreEqual(quatA->quat, quatB->quat, 4, 1);
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if (result == 0){
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result = 1;
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}else{
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result = 0;
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}
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break;
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default:
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printf("The result of the comparison could not be evaluated");
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break;
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}
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if (result == 1){
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Py_RETURN_TRUE;
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}else{
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Py_RETURN_FALSE;
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}
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}
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//---------------------SEQUENCE PROTOCOLS------------------------
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//----------------------------len(object)------------------------
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//sequence length
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static int Quaternion_len(QuaternionObject * self)
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{
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return 4;
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}
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//----------------------------object[]---------------------------
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//sequence accessor (get)
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static PyObject *Quaternion_item(QuaternionObject * self, int i)
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{
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if(i<0) i= 4-i;
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if(i < 0 || i >= 4) {
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PyErr_SetString(PyExc_IndexError, "quaternion[attribute]: array index out of range\n");
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return NULL;
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}
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if(!BaseMath_ReadIndexCallback(self, i))
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return NULL;
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return PyFloat_FromDouble(self->quat[i]);
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}
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//----------------------------object[]-------------------------
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//sequence accessor (set)
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static int Quaternion_ass_item(QuaternionObject * self, int i, PyObject * ob)
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{
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float scalar= (float)PyFloat_AsDouble(ob);
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if(scalar==-1.0f && PyErr_Occurred()) { /* parsed item not a number */
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PyErr_SetString(PyExc_TypeError, "quaternion[index] = x: index argument not a number\n");
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return -1;
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}
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if(i<0) i= 4-i;
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if(i < 0 || i >= 4){
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PyErr_SetString(PyExc_IndexError, "quaternion[attribute] = x: array assignment index out of range\n");
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return -1;
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}
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self->quat[i] = scalar;
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if(!BaseMath_WriteIndexCallback(self, i))
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return -1;
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return 0;
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}
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//----------------------------object[z:y]------------------------
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//sequence slice (get)
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static PyObject *Quaternion_slice(QuaternionObject * self, int begin, int end)
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{
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PyObject *list = NULL;
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int count;
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if(!BaseMath_ReadCallback(self))
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return NULL;
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CLAMP(begin, 0, 4);
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if (end<0) end= 5+end;
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CLAMP(end, 0, 4);
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begin = MIN2(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->quat[count]));
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}
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return list;
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}
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//----------------------------object[z:y]------------------------
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//sequence slice (set)
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static int Quaternion_ass_slice(QuaternionObject * self, int begin, int end, PyObject * seq)
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{
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int i, y, size = 0;
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float quat[4];
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PyObject *q;
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if(!BaseMath_ReadCallback(self))
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return -1;
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CLAMP(begin, 0, 4);
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if (end<0) end= 5+end;
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CLAMP(end, 0, 4);
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begin = MIN2(begin,end);
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size = PySequence_Length(seq);
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if(size != (end - begin)){
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PyErr_SetString(PyExc_TypeError, "quaternion[begin:end] = []: size mismatch in slice assignment\n");
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return -1;
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}
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for (i = 0; i < size; i++) {
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q = PySequence_GetItem(seq, i);
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if (q == NULL) { // Failed to read sequence
|
|
PyErr_SetString(PyExc_RuntimeError, "quaternion[begin:end] = []: unable to read sequence\n");
|
|
return -1;
|
|
}
|
|
|
|
quat[i]= (float)PyFloat_AsDouble(q);
|
|
Py_DECREF(q);
|
|
|
|
if(quat[i]==-1.0f && PyErr_Occurred()) { /* parsed item not a number */
|
|
PyErr_SetString(PyExc_TypeError, "quaternion[begin:end] = []: sequence argument not a number\n");
|
|
return -1;
|
|
}
|
|
}
|
|
//parsed well - now set in vector
|
|
for(y = 0; y < size; y++)
|
|
self->quat[begin + y] = quat[y];
|
|
|
|
BaseMath_WriteCallback(self);
|
|
return 0;
|
|
}
|
|
//------------------------NUMERIC PROTOCOLS----------------------
|
|
//------------------------obj + obj------------------------------
|
|
//addition
|
|
static PyObject *Quaternion_add(PyObject * q1, PyObject * q2)
|
|
{
|
|
float quat[4];
|
|
QuaternionObject *quat1 = NULL, *quat2 = NULL;
|
|
|
|
if(!QuaternionObject_Check(q1) || !QuaternionObject_Check(q2)) {
|
|
PyErr_SetString(PyExc_AttributeError, "Quaternion addition: arguments not valid for this operation....\n");
|
|
return NULL;
|
|
}
|
|
quat1 = (QuaternionObject*)q1;
|
|
quat2 = (QuaternionObject*)q2;
|
|
|
|
if(!BaseMath_ReadCallback(quat1) || !BaseMath_ReadCallback(quat2))
|
|
return NULL;
|
|
|
|
add_qt_qtqt(quat, quat1->quat, quat2->quat, 1.0f);
|
|
return newQuaternionObject(quat, Py_NEW, NULL);
|
|
}
|
|
//------------------------obj - obj------------------------------
|
|
//subtraction
|
|
static PyObject *Quaternion_sub(PyObject * q1, PyObject * q2)
|
|
{
|
|
int x;
|
|
float quat[4];
|
|
QuaternionObject *quat1 = NULL, *quat2 = NULL;
|
|
|
|
if(!QuaternionObject_Check(q1) || !QuaternionObject_Check(q2)) {
|
|
PyErr_SetString(PyExc_AttributeError, "Quaternion addition: arguments not valid for this operation....\n");
|
|
return NULL;
|
|
}
|
|
|
|
quat1 = (QuaternionObject*)q1;
|
|
quat2 = (QuaternionObject*)q2;
|
|
|
|
if(!BaseMath_ReadCallback(quat1) || !BaseMath_ReadCallback(quat2))
|
|
return NULL;
|
|
|
|
for(x = 0; x < 4; x++) {
|
|
quat[x] = quat1->quat[x] - quat2->quat[x];
|
|
}
|
|
|
|
return newQuaternionObject(quat, Py_NEW, NULL);
|
|
}
|
|
//------------------------obj * obj------------------------------
|
|
//mulplication
|
|
static PyObject *Quaternion_mul(PyObject * q1, PyObject * q2)
|
|
{
|
|
float quat[4], scalar;
|
|
QuaternionObject *quat1 = NULL, *quat2 = NULL;
|
|
VectorObject *vec = NULL;
|
|
|
|
if(QuaternionObject_Check(q1)) {
|
|
quat1 = (QuaternionObject*)q1;
|
|
if(!BaseMath_ReadCallback(quat1))
|
|
return NULL;
|
|
}
|
|
if(QuaternionObject_Check(q2)) {
|
|
quat2 = (QuaternionObject*)q2;
|
|
if(!BaseMath_ReadCallback(quat2))
|
|
return NULL;
|
|
}
|
|
|
|
if(quat1 && quat2) { /* QUAT*QUAT (dot product) */
|
|
return PyFloat_FromDouble(dot_qtqt(quat1->quat, quat2->quat));
|
|
}
|
|
|
|
/* the only case this can happen (for a supported type is "FLOAT*QUAT" ) */
|
|
if(!QuaternionObject_Check(q1)) {
|
|
scalar= PyFloat_AsDouble(q1);
|
|
if ((scalar == -1.0 && PyErr_Occurred())==0) { /* FLOAT*QUAT */
|
|
QUATCOPY(quat, quat2->quat);
|
|
mul_qt_fl(quat, scalar);
|
|
return newQuaternionObject(quat, Py_NEW, NULL);
|
|
}
|
|
PyErr_SetString(PyExc_TypeError, "Quaternion multiplication: val * quat, val is not an acceptable type");
|
|
return NULL;
|
|
}
|
|
else { /* QUAT*SOMETHING */
|
|
if(VectorObject_Check(q2)){ /* QUAT*VEC */
|
|
vec = (VectorObject*)q2;
|
|
if(vec->size != 3){
|
|
PyErr_SetString(PyExc_TypeError, "Quaternion multiplication: only 3D vector rotations currently supported\n");
|
|
return NULL;
|
|
}
|
|
return quat_rotation((PyObject*)quat1, (PyObject*)vec); /* vector updating done inside the func */
|
|
}
|
|
|
|
scalar= PyFloat_AsDouble(q2);
|
|
if ((scalar == -1.0 && PyErr_Occurred())==0) { /* QUAT*FLOAT */
|
|
QUATCOPY(quat, quat1->quat);
|
|
mul_qt_fl(quat, scalar);
|
|
return newQuaternionObject(quat, Py_NEW, NULL);
|
|
}
|
|
}
|
|
|
|
PyErr_SetString(PyExc_TypeError, "Quaternion multiplication: arguments not acceptable for this operation\n");
|
|
return NULL;
|
|
}
|
|
|
|
//-----------------PROTOCOL DECLARATIONS--------------------------
|
|
static PySequenceMethods Quaternion_SeqMethods = {
|
|
(lenfunc) Quaternion_len, /* sq_length */
|
|
(binaryfunc) 0, /* sq_concat */
|
|
(ssizeargfunc) 0, /* sq_repeat */
|
|
(ssizeargfunc) Quaternion_item, /* sq_item */
|
|
(ssizessizeargfunc) Quaternion_slice, /* sq_slice */
|
|
(ssizeobjargproc) Quaternion_ass_item, /* sq_ass_item */
|
|
(ssizessizeobjargproc) Quaternion_ass_slice, /* sq_ass_slice */
|
|
};
|
|
|
|
static PyNumberMethods Quaternion_NumMethods = {
|
|
(binaryfunc) Quaternion_add, /*nb_add*/
|
|
(binaryfunc) Quaternion_sub, /*nb_subtract*/
|
|
(binaryfunc) Quaternion_mul, /*nb_multiply*/
|
|
0, /*nb_remainder*/
|
|
0, /*nb_divmod*/
|
|
0, /*nb_power*/
|
|
(unaryfunc) 0, /*nb_negative*/
|
|
(unaryfunc) 0, /*tp_positive*/
|
|
(unaryfunc) 0, /*tp_absolute*/
|
|
(inquiry) 0, /*tp_bool*/
|
|
(unaryfunc) 0, /*nb_invert*/
|
|
0, /*nb_lshift*/
|
|
(binaryfunc)0, /*nb_rshift*/
|
|
0, /*nb_and*/
|
|
0, /*nb_xor*/
|
|
0, /*nb_or*/
|
|
0, /*nb_int*/
|
|
0, /*nb_reserved*/
|
|
0, /*nb_float*/
|
|
0, /* nb_inplace_add */
|
|
0, /* nb_inplace_subtract */
|
|
0, /* nb_inplace_multiply */
|
|
0, /* nb_inplace_remainder */
|
|
0, /* nb_inplace_power */
|
|
0, /* nb_inplace_lshift */
|
|
0, /* nb_inplace_rshift */
|
|
0, /* nb_inplace_and */
|
|
0, /* nb_inplace_xor */
|
|
0, /* nb_inplace_or */
|
|
0, /* nb_floor_divide */
|
|
0, /* nb_true_divide */
|
|
0, /* nb_inplace_floor_divide */
|
|
0, /* nb_inplace_true_divide */
|
|
0, /* nb_index */
|
|
};
|
|
|
|
static PyObject *Quaternion_getAxis( QuaternionObject * self, void *type )
|
|
{
|
|
return Quaternion_item(self, GET_INT_FROM_POINTER(type));
|
|
}
|
|
|
|
static int Quaternion_setAxis( QuaternionObject * self, PyObject * value, void * type )
|
|
{
|
|
return Quaternion_ass_item(self, GET_INT_FROM_POINTER(type), value);
|
|
}
|
|
|
|
static PyObject *Quaternion_getMagnitude( QuaternionObject * self, void *type )
|
|
{
|
|
return PyFloat_FromDouble(sqrt(dot_qtqt(self->quat, self->quat)));
|
|
}
|
|
|
|
static PyObject *Quaternion_getAngle( QuaternionObject * self, void *type )
|
|
{
|
|
double ang = self->quat[0];
|
|
ang = 2 * (saacos(ang));
|
|
#ifdef USE_MATHUTILS_DEG
|
|
ang *= (180 / Py_PI);
|
|
#endif
|
|
return PyFloat_FromDouble(ang);
|
|
}
|
|
|
|
static PyObject *Quaternion_getAxisVec( QuaternionObject * self, void *type )
|
|
{
|
|
int i;
|
|
float vec[3];
|
|
double mag = self->quat[0] * (Py_PI / 180);
|
|
mag = 2 * (saacos(mag));
|
|
mag = sin(mag / 2);
|
|
for(i = 0; i < 3; i++)
|
|
vec[i] = (float)(self->quat[i + 1] / mag);
|
|
|
|
normalize_v3(vec);
|
|
//If the axis of rotation is 0,0,0 set it to 1,0,0 - for zero-degree rotations
|
|
if( EXPP_FloatsAreEqual(vec[0], 0.0f, 10) &&
|
|
EXPP_FloatsAreEqual(vec[1], 0.0f, 10) &&
|
|
EXPP_FloatsAreEqual(vec[2], 0.0f, 10) ){
|
|
vec[0] = 1.0f;
|
|
}
|
|
return (PyObject *) newVectorObject(vec, 3, Py_NEW, NULL);
|
|
}
|
|
|
|
//----------------------------------Mathutils.Quaternion() --------------
|
|
static PyObject *Quaternion_new(PyTypeObject *type, PyObject *args, PyObject *kwds)
|
|
{
|
|
PyObject *listObject = NULL, *n, *q;
|
|
int size, i;
|
|
float quat[4];
|
|
double angle = 0.0f;
|
|
|
|
size = PyTuple_GET_SIZE(args);
|
|
if (size == 1 || size == 2) { //seq?
|
|
listObject = PyTuple_GET_ITEM(args, 0);
|
|
if (PySequence_Check(listObject)) {
|
|
size = PySequence_Length(listObject);
|
|
if ((size == 4 && PySequence_Length(args) !=1) ||
|
|
(size == 3 && PySequence_Length(args) !=2) || (size >4 || size < 3)) {
|
|
// invalid args/size
|
|
PyErr_SetString(PyExc_AttributeError, "Mathutils.Quaternion(): 4d numeric sequence expected or 3d vector and number\n");
|
|
return NULL;
|
|
}
|
|
if(size == 3){ //get angle in axis/angle
|
|
n = PySequence_GetItem(args, 1);
|
|
if(n == NULL) { // parsed item not a number or getItem fail
|
|
PyErr_SetString(PyExc_TypeError, "Mathutils.Quaternion(): 4d numeric sequence expected or 3d vector and number\n");
|
|
return NULL;
|
|
}
|
|
|
|
angle = PyFloat_AsDouble(n);
|
|
Py_DECREF(n);
|
|
|
|
if (angle==-1 && PyErr_Occurred()) {
|
|
PyErr_SetString(PyExc_TypeError, "Mathutils.Quaternion(): 4d numeric sequence expected or 3d vector and number\n");
|
|
return NULL;
|
|
}
|
|
}
|
|
}else{
|
|
listObject = PyTuple_GET_ITEM(args, 1);
|
|
if (size>1 && PySequence_Check(listObject)) {
|
|
size = PySequence_Length(listObject);
|
|
if (size != 3) {
|
|
// invalid args/size
|
|
PyErr_SetString(PyExc_AttributeError, "Mathutils.Quaternion(): 4d numeric sequence expected or 3d vector and number\n");
|
|
return NULL;
|
|
}
|
|
angle = PyFloat_AsDouble(PyTuple_GET_ITEM(args, 0));
|
|
|
|
if (angle==-1 && PyErr_Occurred()) {
|
|
PyErr_SetString(PyExc_TypeError, "Mathutils.Quaternion(): 4d numeric sequence expected or 3d vector and number\n");
|
|
return NULL;
|
|
}
|
|
} else { // argument was not a sequence
|
|
PyErr_SetString(PyExc_TypeError, "Mathutils.Quaternion(): 4d numeric sequence expected or 3d vector and number\n");
|
|
return NULL;
|
|
}
|
|
}
|
|
} else if (size == 0) { //returns a new empty quat
|
|
return newQuaternionObject(NULL, Py_NEW, NULL);
|
|
} else {
|
|
listObject = args;
|
|
}
|
|
|
|
if (size == 3) { // invalid quat size
|
|
if(PySequence_Length(args) != 2){
|
|
PyErr_SetString(PyExc_AttributeError, "Mathutils.Quaternion(): 4d numeric sequence expected or 3d vector and number\n");
|
|
return NULL;
|
|
}
|
|
}else{
|
|
if(size != 4){
|
|
PyErr_SetString(PyExc_AttributeError, "Mathutils.Quaternion(): 4d numeric sequence expected or 3d vector and number\n");
|
|
return NULL;
|
|
}
|
|
}
|
|
|
|
for (i=0; i<size; i++) { //parse
|
|
q = PySequence_GetItem(listObject, i);
|
|
if (q == NULL) { // Failed to read sequence
|
|
PyErr_SetString(PyExc_RuntimeError, "Mathutils.Quaternion(): 4d numeric sequence expected or 3d vector and number\n");
|
|
return NULL;
|
|
}
|
|
|
|
quat[i] = PyFloat_AsDouble(q);
|
|
Py_DECREF(q);
|
|
|
|
if (quat[i]==-1 && PyErr_Occurred()) {
|
|
PyErr_SetString(PyExc_TypeError, "Mathutils.Quaternion(): 4d numeric sequence expected or 3d vector and number\n");
|
|
return NULL;
|
|
}
|
|
}
|
|
|
|
if(size == 3) //calculate the quat based on axis/angle
|
|
#ifdef USE_MATHUTILS_DEG
|
|
axis_angle_to_quat(quat, quat, angle * (Py_PI / 180));
|
|
#else
|
|
axis_angle_to_quat(quat, quat, angle);
|
|
#endif
|
|
|
|
return newQuaternionObject(quat, Py_NEW, NULL);
|
|
}
|
|
|
|
|
|
//-----------------------METHOD DEFINITIONS ----------------------
|
|
static struct PyMethodDef Quaternion_methods[] = {
|
|
{"identity", (PyCFunction) Quaternion_Identity, METH_NOARGS, Quaternion_Identity_doc},
|
|
{"negate", (PyCFunction) Quaternion_Negate, METH_NOARGS, Quaternion_Negate_doc},
|
|
{"conjugate", (PyCFunction) Quaternion_Conjugate, METH_NOARGS, Quaternion_Conjugate_doc},
|
|
{"inverse", (PyCFunction) Quaternion_Inverse, METH_NOARGS, Quaternion_Inverse_doc},
|
|
{"normalize", (PyCFunction) Quaternion_Normalize, METH_NOARGS, Quaternion_Normalize_doc},
|
|
{"to_euler", (PyCFunction) Quaternion_ToEuler, METH_VARARGS, Quaternion_ToEuler_doc},
|
|
{"to_matrix", (PyCFunction) Quaternion_ToMatrix, METH_NOARGS, Quaternion_ToMatrix_doc},
|
|
{"cross", (PyCFunction) Quaternion_Cross, METH_O, Quaternion_Cross_doc},
|
|
{"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},
|
|
{"__copy__", (PyCFunction) Quaternion_copy, METH_NOARGS, Quaternion_copy_doc},
|
|
{"copy", (PyCFunction) Quaternion_copy, METH_NOARGS, Quaternion_copy_doc},
|
|
{NULL, NULL, 0, NULL}
|
|
};
|
|
|
|
/*****************************************************************************/
|
|
/* Python attributes get/set structure: */
|
|
/*****************************************************************************/
|
|
static PyGetSetDef Quaternion_getseters[] = {
|
|
{"w", (getter)Quaternion_getAxis, (setter)Quaternion_setAxis, "Quaternion W value. **type** float", (void *)0},
|
|
{"x", (getter)Quaternion_getAxis, (setter)Quaternion_setAxis, "Quaternion X axis. **type** float", (void *)1},
|
|
{"y", (getter)Quaternion_getAxis, (setter)Quaternion_setAxis, "Quaternion Y axis. **type** float", (void *)2},
|
|
{"z", (getter)Quaternion_getAxis, (setter)Quaternion_setAxis, "Quaternion Z axis. **type** float", (void *)3},
|
|
{"magnitude", (getter)Quaternion_getMagnitude, (setter)NULL, "Size of the quaternion (readonly). **type** float", NULL},
|
|
{"angle", (getter)Quaternion_getAngle, (setter)NULL, "angle of the quaternion (readonly). **type** float", NULL},
|
|
{"axis",(getter)Quaternion_getAxisVec, (setter)NULL, "quaternion axis as a vector (readonly). **type** :class:`Vector`", NULL},
|
|
{"wrapped", (getter)BaseMathObject_getWrapped, (setter)NULL, BaseMathObject_Wrapped_doc, NULL},
|
|
{"_owner", (getter)BaseMathObject_getOwner, (setter)NULL, BaseMathObject_Owner_doc, NULL},
|
|
{NULL,NULL,NULL,NULL,NULL} /* Sentinel */
|
|
};
|
|
|
|
//------------------PY_OBECT DEFINITION--------------------------
|
|
static char quaternion_doc[] = "This object gives access to Quaternions in Blender.";
|
|
|
|
PyTypeObject quaternion_Type = {
|
|
PyVarObject_HEAD_INIT(NULL, 0)
|
|
"quaternion", //tp_name
|
|
sizeof(QuaternionObject), //tp_basicsize
|
|
0, //tp_itemsize
|
|
(destructor)BaseMathObject_dealloc, //tp_dealloc
|
|
0, //tp_print
|
|
0, //tp_getattr
|
|
0, //tp_setattr
|
|
0, //tp_compare
|
|
(reprfunc) Quaternion_repr, //tp_repr
|
|
&Quaternion_NumMethods, //tp_as_number
|
|
&Quaternion_SeqMethods, //tp_as_sequence
|
|
0, //tp_as_mapping
|
|
0, //tp_hash
|
|
0, //tp_call
|
|
0, //tp_str
|
|
0, //tp_getattro
|
|
0, //tp_setattro
|
|
0, //tp_as_buffer
|
|
Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE, //tp_flags
|
|
quaternion_doc, //tp_doc
|
|
0, //tp_traverse
|
|
0, //tp_clear
|
|
(richcmpfunc)Quaternion_richcmpr, //tp_richcompare
|
|
0, //tp_weaklistoffset
|
|
0, //tp_iter
|
|
0, //tp_iternext
|
|
Quaternion_methods, //tp_methods
|
|
0, //tp_members
|
|
Quaternion_getseters, //tp_getset
|
|
0, //tp_base
|
|
0, //tp_dict
|
|
0, //tp_descr_get
|
|
0, //tp_descr_set
|
|
0, //tp_dictoffset
|
|
0, //tp_init
|
|
0, //tp_alloc
|
|
Quaternion_new, //tp_new
|
|
0, //tp_free
|
|
0, //tp_is_gc
|
|
0, //tp_bases
|
|
0, //tp_mro
|
|
0, //tp_cache
|
|
0, //tp_subclasses
|
|
0, //tp_weaklist
|
|
0 //tp_del
|
|
};
|
|
//------------------------newQuaternionObject (internal)-------------
|
|
//creates a new quaternion object
|
|
/*pass Py_WRAP - if vector is a WRAPPER for data allocated by BLENDER
|
|
(i.e. it was allocated elsewhere by MEM_mallocN())
|
|
pass Py_NEW - if vector is not a WRAPPER and managed by PYTHON
|
|
(i.e. it must be created here with PyMEM_malloc())*/
|
|
PyObject *newQuaternionObject(float *quat, int type, PyTypeObject *base_type)
|
|
{
|
|
QuaternionObject *self;
|
|
|
|
if(base_type) self = (QuaternionObject *)base_type->tp_alloc(base_type, 0);
|
|
else self = PyObject_NEW(QuaternionObject, &quaternion_Type);
|
|
|
|
/* init callbacks as NULL */
|
|
self->cb_user= NULL;
|
|
self->cb_type= self->cb_subtype= 0;
|
|
|
|
if(type == Py_WRAP){
|
|
self->quat = quat;
|
|
self->wrapped = Py_WRAP;
|
|
}else if (type == Py_NEW){
|
|
self->quat = PyMem_Malloc(4 * sizeof(float));
|
|
if(!quat) { //new empty
|
|
unit_qt(self->quat);
|
|
}else{
|
|
QUATCOPY(self->quat, quat);
|
|
}
|
|
self->wrapped = Py_NEW;
|
|
}else{ //bad type
|
|
return NULL;
|
|
}
|
|
return (PyObject *) self;
|
|
}
|
|
|
|
PyObject *newQuaternionObject_cb(PyObject *cb_user, int cb_type, int cb_subtype)
|
|
{
|
|
QuaternionObject *self= (QuaternionObject *)newQuaternionObject(NULL, Py_NEW, NULL);
|
|
if(self) {
|
|
Py_INCREF(cb_user);
|
|
self->cb_user= cb_user;
|
|
self->cb_type= (unsigned char)cb_type;
|
|
self->cb_subtype= (unsigned char)cb_subtype;
|
|
}
|
|
|
|
return (PyObject *)self;
|
|
}
|
|
|