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blender-archive/source/blender/blenlib/BLI_arithb.h
Ton Roosendaal a6c97c90fb Rotation constraint update. 
Small fix, but results are at least less frustrating now. It uses the
"compatible euler" function from inserting key positions here, preventing
euler values to be constrainted that differ weirdly.

I've tried several other approaches to get a definite rotate constraint,
but only constraining a single axes seems to me impossible magic still...
2006-06-03 17:21:45 +00:00

897 lines
12 KiB
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#undef TEST_ACTIVE
//#define ACTIVE 1
/**
* blenlib/BLI_arithb.h mar 2001 Nzc
*
* $Id$
*
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*
* The old math stuff from Ton. These will slowly phase out in favour
* of MTC calls. (or even MoTO :) )
* */
#ifndef BLI_ARITHB_H
#define BLI_ARITHB_H
#ifdef __cplusplus
extern "C" {
#endif
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
#ifndef M_PI_2
#define M_PI_2 1.57079632679489661923
#endif
#ifndef M_SQRT2
#define M_SQRT2 1.41421356237309504880
#endif
#ifndef M_SQRT1_2
#define M_SQRT1_2 0.70710678118654752440
#endif
#define MAT4_UNITY {{ 1.0, 0.0, 0.0, 0.0},\
{ 0.0, 1.0, 0.0, 0.0},\
{ 0.0, 0.0, 1.0, 0.0},\
{ 0.0, 0.0, 0.0, 1.0}}
#define MAT3_UNITY {{ 1.0, 0.0, 0.0},\
{ 0.0, 1.0, 0.0},\
{ 0.0, 0.0, 1.0}}
/* matrix operations */
/* void Mat4MulMat4(float m1[][4], float m2[][4], float m3[][4]); */
/* void Mat3MulVecfl(float mat[][3], float *vec); */
/* or **mat, but it's the same */
/*void Mat3MulVecd(float mat[][3], double *vec); */
/* void Mat4MulVecfl(float mat[][4], float *vec); */
/* void Mat4MulSerie(float answ[][4], float m1[][4], float m2[][4], */
/* float m3[][4], float m4[][4], float m5[][4], */
/* float m6[][4], float m7[][4], float m8[][4]); */
/* int Mat4Invert(float inverse[][4], float mat[][4]); */
/* m2 to m1 */
/* void Mat3CpyMat4(float m1p[][3], float m2p[][4]); */
/* void Mat3CpyMat4(float *m1p, float *m2p); */
/* m1 to m2 */
/* void Mat3CpyMat3(float m1p[][3], float m2p[][3]); */
/* void Mat3CpyMat3(float *m1p, float *m2p); */
/* m2 to m1 */
/* void Mat4CpyMat3(float m1p[][4], float m2p[][3]); */
/* M1 = M3*M2 */
/* void Mat3MulMat3(float m1[][3], float m2[][3], float m3[][3]); */
/*void Mat3MulMat3(float *m1, float *m3, float *m2); */
/* m1 = m2 * m3, ignore the elements on the 4th row/column of m3 */
/*void Mat3IsMat3MulMat4(float m1[][3], float m2[][3], float m3[][4]); */
/* m1 to m2 */
/* void Mat4CpyMat4(float m1[][4], float m2[][4]); */
/* void Mat4CpyMat4(float *m1, float *m2); */
/* void Mat4Ortho(float mat[][4]); */
/* void Mat4Mul3Vecfl(float mat[][4], float *vec); */
/* void Mat4MulVec4fl(float mat[][4], float *vec); */
/* void Mat4SwapMat4(float *m1, float *m2); */
/* void Mat3Inv(float m1[][3], float m2[][3]); */
/* void Mat4One(float m[][4]); */
/* void Mat3One(float m[][3]); */
void
CalcCent3f(
float *cent, float *v1, float *v2, float *v3
);
void
CalcCent4f(
float *cent, float *v1,
float *v2, float *v3,
float *v4
);
void
Crossf(
float *c, float *a, float *b
);
void
Projf(
float *c, float *v1, float *v2
);
/**
* Euler conversion routines
*/
void
EulToMat3(
float *eul,
float mat[][3]
);
void
EulToMat4(
float* eul,
float mat[][4]
);
void
Mat3ToEul(
float tmat[][3],
float *eul
);
void compatible_eul(float *eul, float *oldrot);
/**
* @section Quaternion arithmetic routines
*/
void
QuatToEul(
float *quat,
float *eul
);
void
QuatOne(
float *
);
void
QuatMul(
float *,
float *,
float *
);
void
QuatMulVecf(
float *q,
float *v
);
void
NormalQuat(
float *
);
void
VecRotToQuat(
float *vec,
float phi,
float *quat
);
void
QuatSub(
float *q,
float *q1,
float *q2
);
void
QuatConj(
float *q
);
void
QuatInv(
float *q
);
void
QuatMulf(
float *q,
float f
);
float
QuatDot(
float *q1,
float *q2
);
void
printquat(
char *str,
float q[4]
);
void QuatInterpol(float *result, float *quat1, float *quat2, float t);
void QuatAdd(float *result, float *quat1, float *quat2, float t);
/**
* @section matrix multiplication can copying routines
*/
void
Mat3MulFloat(
float *m,
float f
);
void
Mat4MulFloat(
float *m,
float f
);
void
Mat4MulFloat3(
float *m,
float f
);
void
Mat3Transp(
float mat[][3]
);
void
Mat4Transp(
float mat[][4]
);
int
Mat4Invert(
float inverse[][4],
float mat[][4]
);
void
Mat4InvertSimp(
float inverse[][4],
float mat[][4]
);
void
Mat4Inv(
float *m1,
float *m2
);
void
Mat4InvGG(
float out[][4],
float in[][4]
);
void
Mat3CpyMat4(
float m1[][3],
float m2[][4]
);
void
Mat3Inv(
float m1[][3],
float m2[][3]
);
void
Mat4CpyMat3(
float m1[][4],
float m2[][3]
);
float
Det2x2(
float a,float b,float c,float d
);
float
Det3x3(
float a1, float a2, float a3,
float b1, float b2, float b3,
float c1, float c2, float c3
);
float
Det4x4(
float m[][4]
);
void
Mat4Adj(
float out[][4],
float in[][4]
);
void
Mat3Adj(
float m1[][3],
float m[][3]
);
void
Mat4MulMat4(
float m1[][4],
float m2[][4],
float m3[][4]
);
void
subMat4MulMat4(
float *m1,
float *m2,
float *m3
);
#ifndef TEST_ACTIVE
void
Mat3MulMat3(
float m1[][3],
float m3[][3],
float m2[][3]
);
#else
void
Mat3MulMat3(
float *m1,
float *m3,
float *m2
);
#endif
void
Mat4MulMat34(
float (*m1)[4],
float (*m3)[3],
float (*m2)[4]
);
void
Mat4CpyMat4(
float m1[][4],
float m2[][4]
);
void
Mat4SwapMat4(
float *m1,
float *m2
);
void
Mat3CpyMat3(
float m1[][3],
float m2[][3]
);
void
Mat3MulSerie(
float answ[][3],
float m1[][3], float m2[][3], float m3[][3],
float m4[][3], float m5[][3], float m6[][3],
float m7[][3], float m8[][3]
);
void
Mat4MulSerie(
float answ[][4],
float m1[][4],
float m2[][4], float m3[][4], float m4[][4],
float m5[][4], float m6[][4], float m7[][4],
float m8[][4]
);
void
Mat4Clr(
float *m
);
void
Mat3Clr(
float *m
);
void
Mat3One(
float m[][3]
);
void
Mat4MulVec(
float mat[][4],
int *vec
);
void
VecMat4MulVecfl(
float *in,
float mat[][4],
float *vec
);
void
Mat4MulMat43(
float (*m1)[4],
float (*m3)[4],
float (*m2)[3]
);
void
Mat3IsMat3MulMat4(
float m1[][3],
float m2[][3],
float m3[][4]
);
void
Mat4One(
float m[][4]
);
void
Mat4Mul3Vecfl(
float mat[][4],
float *vec
);
void
Mat4MulVec4fl(
float mat[][4],
float *vec
);
void
Mat3MulVec(
float mat[][3],
int *vec
);
void
Mat4MulVecfl(
float mat[][4],
float *vec
);
void
Mat4ToQuat(
float m[][4],
float *q
);
void
VecUpMat3old(
float *vec,
float mat[][3],
short axis
);
int
FloatCompare(
float *v1,
float *v2,
float limit
);
float
Normalise(
float *n
);
float
CalcNormFloat(
float *v1,
float *v2,
float *v3,
float *n
);
float
CalcNormFloat4(
float *v1,
float *v2,
float *v3,
float *v4,
float *n
);
float
VecLenf(
float *v1,
float *v2
);
float
VecLength(
float *v
);
void
VecMulf(
float *v1,
float f
);
int
VecLenCompare(
float *v1,
float *v2,
float limit
);
int
VecCompare(
float *v1,
float *v2,
float limit
);
float
Sqrt3f(
float f
);
double
Sqrt3d(
double d
);
void
euler_rot(
float *beul,
float ang,
char axis
);
float
saacos(
float fac
);
float
sasqrt(
float fac
);
void
printvecf(
char *str,
float v[3]
);
void
printvec4f(
char *str,
float v[4]
);
float
Inpf(
float *v1,
float *v2
);
void
VecSubf(
float *v,
float *v1,
float *v2
);
void
VecAddf(
float *v,
float *v1,
float *v2
);
void
VecLerpf(
float *target,
float *a,
float *b,
float t
);
void
VecUpMat3(
float *vec,
float mat[][3],
short axis
);
float
DistVL2Dfl(
float *v1,
float *v2,
float *v3
);
float
PdistVL2Dfl(
float *v1,
float *v2,
float *v3
);
float
AreaF2Dfl(
float *v1,
float *v2,
float *v3
);
float
AreaQ3Dfl(
float *v1,
float *v2,
float *v3,
float *v4
);
float
AreaT3Dfl(
float *v1,
float *v2,
float *v3
);
float
AreaPoly3Dfl(
int nr,
float *verts,
float *normal
);
void
VecRotToMat3(
float *vec,
float phi,
float mat[][3]
);
/* intersect Line-Line
return:
-1: colliniar
0: no intersection of segments
1: exact intersection of segments
2: cross-intersection of segments
*/
extern short IsectLL2Df(float *v1, float *v2, float *v3, float *v4);
extern short IsectLL2Ds(short *v1, short *v2, short *v3, short *v4);
float *
vectoquat(
float *vec,
short axis,
short upflag
);
float
VecAngle3(
float *v1,
float *v2,
float *v3
);
float
VecAngle2(
float *v1,
float *v2
);
void
i_lookat(
float vx, float vy,
float vz, float px,
float py, float pz,
float twist, float mat[][4]
);
void
i_window(
float left, float right,
float bottom, float top,
float nearClip, float farClip,
float mat[][4]
);
void
hsv_to_rgb(
float h, float s,
float v, float *r,
float *g, float *b
);
void hex_to_rgb(char *hexcol, float *r, float *g, float *b);
void
rgb_to_hsv(
float r, float g, float b,
float *lh, float *ls, float *lv
);
unsigned int
hsv_to_cpack(
float h, float s, float v
);
unsigned int
rgb_to_cpack(
float r, float g, float b
);
void
cpack_to_rgb(
unsigned int col,
float *r, float *g, float *b
);
void
EulToQuat(
float *eul,
float *quat
);
void
Mat3MulVecfl(
float mat[][3],
float *vec
);
void
Mat3MulVecd(
float mat[][3],
double *vec
);
void
Mat3TransMulVecfl(
float mat[][3],
float *vec
);
void
VecStar(
float mat[][3],
float *vec
);
short
EenheidsMat(
float mat[][3]
);
void
printmatrix3(
char *str, float m[][3]
);
void
QuatToMat3(
float *q,
float m[][3]
);
void
QuatToMat4(
float *q,
float m[][4]
);
void
Mat3ToQuat_is_ok(
float wmat[][3],
float *q
);
void
i_ortho(
float left, float right,
float bottom, float top,
float nearClip, float farClip,
float matrix[][4]
);
void
i_polarview(
float dist, float azimuth, float incidence, float twist,
float Vm[][4]
);
void
Mat3Ortho(
float mat[][3]
);
void
Mat4Ortho(
float mat[][4]
);
void
VecCopyf(
float *v1,
float *v2
);
int
VecLen(
int *v1,
int *v2
);
void
CalcNormShort(
short *v1,
short *v2,
short *v3,
float *n
) /* is ook uitprodukt */;
void
CalcNormLong(
int* v1,
int*v2,
int*v3,
float *n
);
void
MinMax3(
float *min,
float *max,
float *vec
);
void
Mat3ToEuln(
float tmat[][3],
float *eul
);
void
SizeToMat3(
float *size,
float mat[][3]
);
void
printmatrix4(
char *str,
float m[][4]
);
/* uit Sig.Proc.85 pag 253 */
void
Mat3ToQuat(
float wmat[][3],
float *q
);
void
i_translate(
float Tx,
float Ty,
float Tz,
float mat[][4]
);
void
i_multmatrix(
float icand[][4],
float Vm[][4]
);
void
i_rotate(
float angle,
char axis,
float mat[][4]
);
void
VecMidf(
float *v, float *v1, float *v2
);
void
Mat3ToSize(
float mat[][3], float *size
);
void
Mat4ToSize(
float mat[][4], float *size
);
void
triatoquat(
float *v1,
float *v2,
float *v3, float *quat
);
void
MinMaxRGB(
short c[]
);
float
Vec2Lenf(
float *v1,
float *v2
);
void
Vec2Mulf(
float *v1,
float f
);
void
Vec2Addf(
float *v,
float *v1,
float *v2
);
void
Vec2Subf(
float *v,
float *v1,
float *v2
);
void
Vec2Copyf(
float *v1,
float *v2
);
float
Inp2f(
float *v1,
float *v2
);
float
Normalise2(
float *n
);
void tubemap(float x, float y, float z, float *u, float *v);
void spheremap(float x, float y, float z, float *u, float *v);
int LineIntersectsTriangle(float p1[3], float p2[3], float v0[3], float v1[3], float v2[3], float *lambda);
#ifdef __cplusplus
}
#endif
#endif
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