Revision: 21160
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=21160
Author: campbellbarton
Date: 2009-06-25 22:47:41 +0200 (Thu, 25 Jun 2009)
Log Message:
-----------
Made Mathutils use radians rather then degrees. defining USE_MATHUTILS_DEG for
testing existing scripts.
Added conversion for BGE Quaternion WXYZ (Blender/C) -> XYZW (Moto C++).
BGE Python API now uses WXYZ following mathutils (break script warning).
Modified Paths:
--------------
branches/blender2.5/blender/source/blender/python/generic/Mathutils.c
branches/blender2.5/blender/source/blender/python/generic/Mathutils.h
branches/blender2.5/blender/source/blender/python/generic/euler.c
branches/blender2.5/blender/source/blender/python/generic/matrix.c
branches/blender2.5/blender/source/blender/python/generic/quat.c
branches/blender2.5/blender/source/blender/python/generic/vector.c
branches/blender2.5/blender/source/gameengine/Converter/BL_ActionActuator.cpp
branches/blender2.5/blender/source/gameengine/Ketsji/KX_PyMath.cpp
branches/blender2.5/blender/source/gameengine/Ketsji/KX_PyMath.h
Modified: branches/blender2.5/blender/source/blender/python/generic/Mathutils.c
===================================================================
--- branches/blender2.5/blender/source/blender/python/generic/Mathutils.c
2009-06-25 18:04:32 UTC (rev 21159)
+++ branches/blender2.5/blender/source/blender/python/generic/Mathutils.c
2009-06-25 20:47:41 UTC (rev 21160)
@@ -275,8 +275,11 @@
angleRads = (double)saacos(dot);
+#ifdef USE_MATHUTILS_DEG
return PyFloat_FromDouble(angleRads * (180/ Py_PI));
-
+#else
+ return PyFloat_FromDouble(angleRads);
+#endif
AttributeError1:
PyErr_SetString(PyExc_AttributeError, "Mathutils.AngleBetweenVecs():
expects (2) VECTOR objects of the same size\n");
return NULL;
@@ -364,12 +367,19 @@
PyErr_SetString(PyExc_TypeError, "Mathutils.RotationMatrix():
expected float int and optional string and vector\n");
return NULL;
}
-
+
+#ifdef USE_MATHUTILS_DEG
/* Clamp to -360:360 */
while (angle<-360.0f)
angle+=360.0;
while (angle>360.0f)
angle-=360.0;
+#else
+ while (angle<-(Py_PI*2))
+ angle+=(Py_PI*2);
+ while (angle>(Py_PI*2))
+ angle-=(Py_PI*2);
+#endif
if(matSize != 2 && matSize != 3 && matSize != 4) {
PyErr_SetString(PyExc_AttributeError,
"Mathutils.RotationMatrix(): can only return a 2x2 3x3 or 4x4 matrix\n");
@@ -399,8 +409,11 @@
return NULL;
}
+#ifdef USE_MATHUTILS_DEG
//convert to radians
angle = angle * (float) (Py_PI / 180);
+#endif
+
if(axis == NULL && matSize == 2) {
//2D rotation matrix
mat[0] = (float) cos (angle);
Modified: branches/blender2.5/blender/source/blender/python/generic/Mathutils.h
===================================================================
--- branches/blender2.5/blender/source/blender/python/generic/Mathutils.h
2009-06-25 18:04:32 UTC (rev 21159)
+++ branches/blender2.5/blender/source/blender/python/generic/Mathutils.h
2009-06-25 20:47:41 UTC (rev 21160)
@@ -38,6 +38,8 @@
#include "quat.h"
#include "euler.h"
+/* #define USE_MATHUTILS_DEG - for backwards compat */
+
/* Can cast different mathutils types to this, use for generic funcs */
typedef struct {
Modified: branches/blender2.5/blender/source/blender/python/generic/euler.c
===================================================================
--- branches/blender2.5/blender/source/blender/python/generic/euler.c
2009-06-25 18:04:32 UTC (rev 21159)
+++ branches/blender2.5/blender/source/blender/python/generic/euler.c
2009-06-25 20:47:41 UTC (rev 21160)
@@ -70,7 +70,7 @@
PyObject *listObject = NULL;
int size, i;
- float eul[3], scalar;
+ float eul[3];
PyObject *e;
size = PyTuple_GET_SIZE(args);
@@ -102,15 +102,13 @@
return NULL;
}
- scalar= (float)PyFloat_AsDouble(e);
+ eul[i]= (float)PyFloat_AsDouble(e);
Py_DECREF(e);
- if(scalar==-1 && PyErr_Occurred()) { // parsed item is not a
number
+ if(eul[i]==-1 && PyErr_Occurred()) { // parsed item is not a
number
PyErr_SetString(PyExc_TypeError, "Mathutils.Euler(): 3d
numeric sequence expected\n");
return NULL;
}
-
- eul[i]= scalar;
}
return newEulerObject(eul, Py_NEW);
}
@@ -126,10 +124,15 @@
if(!BaseMath_ReadCallback(self))
return NULL;
+#ifdef USE_MATHUTILS_DEG
for(x = 0; x < 3; x++) {
eul[x] = self->eul[x] * ((float)Py_PI / 180);
}
EulToQuat(eul, quat);
+#else
+ EulToQuat(self->eul, quat);
+#endif
+
return newQuaternionObject(quat, Py_NEW);
}
//----------------------------Euler.toMatrix()---------------------
@@ -143,10 +146,14 @@
if(!BaseMath_ReadCallback(self))
return NULL;
+#ifdef USE_MATHUTILS_DEG
for(x = 0; x < 3; x++) {
eul[x] = self->eul[x] * ((float)Py_PI / 180);
}
EulToMat3(eul, (float (*)[3]) mat);
+#else
+ EulToMat3(self->eul, (float (*)[3]) mat);
+#endif
return newMatrixObject(mat, 3, 3 , Py_NEW);
}
//----------------------------Euler.unique()-----------------------
@@ -161,10 +168,12 @@
if(!BaseMath_ReadCallback(self))
return NULL;
+#ifdef USE_MATHUTILS_DEG
//radians
heading = self->eul[0] * (float)Py_PI / 180;
pitch = self->eul[1] * (float)Py_PI / 180;
bank = self->eul[2] * (float)Py_PI / 180;
+#endif
//wrap heading in +180 / -180
pitch += Py_PI;
@@ -195,10 +204,12 @@
heading -= (floor(heading * Opi2)) * pi2;
heading -= Py_PI;
+#ifdef USE_MATHUTILS_DEG
//back to degrees
self->eul[0] = (float)(heading * 180 / (float)Py_PI);
self->eul[1] = (float)(pitch * 180 / (float)Py_PI);
self->eul[2] = (float)(bank * 180 / (float)Py_PI);
+#endif
BaseMath_WriteCallback(self);
Py_INCREF(self);
@@ -237,16 +248,21 @@
if(!BaseMath_ReadCallback(self))
return NULL;
+#ifdef USE_MATHUTILS_DEG
//covert to radians
angle *= ((float)Py_PI / 180);
for(x = 0; x < 3; x++) {
self->eul[x] *= ((float)Py_PI / 180);
}
+#endif
euler_rot(self->eul, angle, *axis);
+
+#ifdef USE_MATHUTILS_DEG
//convert back from radians
for(x = 0; x < 3; x++) {
self->eul[x] *= (180 / (float)Py_PI);
}
+#endif
BaseMath_WriteCallback(self);
Py_INCREF(self);
@@ -266,17 +282,23 @@
if(!BaseMath_ReadCallback(self) || !BaseMath_ReadCallback(value))
return NULL;
+#ifdef USE_MATHUTILS_DEG
//covert to radians
for(x = 0; x < 3; x++) {
self->eul[x] = self->eul[x] * ((float)Py_PI / 180);
eul_from_rad[x] = value->eul[x] * ((float)Py_PI / 180);
}
compatible_eul(self->eul, eul_from_rad);
+#else
+ compatible_eul(self->eul, value->eul);
+#endif
+
+#ifdef USE_MATHUTILS_DEG
//convert back from radians
for(x = 0; x < 3; x++) {
self->eul[x] *= (180 / (float)Py_PI);
}
-
+#endif
BaseMath_WriteCallback(self);
Py_INCREF(self);
return (PyObject *)self;
Modified: branches/blender2.5/blender/source/blender/python/generic/matrix.c
===================================================================
--- branches/blender2.5/blender/source/blender/python/generic/matrix.c
2009-06-25 18:04:32 UTC (rev 21159)
+++ branches/blender2.5/blender/source/blender/python/generic/matrix.c
2009-06-25 20:47:41 UTC (rev 21160)
@@ -257,10 +257,14 @@
if(eul_compat) {
if(!BaseMath_ReadCallback(eul_compat))
return NULL;
-
+
+#ifdef USE_MATHUTILS_DEG
for(x = 0; x < 3; x++) {
eul_compatf[x] = eul_compat->eul[x] * ((float)Py_PI /
180);
}
+#else
+ VECCOPY(eul_compatf, eul_compat->eul);
+#endif
}
/*must be 3-4 cols, 3-4 rows, square matrix*/
@@ -278,10 +282,12 @@
PyErr_SetString(PyExc_AttributeError, "Matrix.toEuler():
inappropriate matrix size - expects 3x3 or 4x4 matrix\n");
return NULL;
}
+#ifdef USE_MATHUTILS_DEG
/*have to convert to degrees*/
for(x = 0; x < 3; x++) {
eul[x] *= (float) (180 / Py_PI);
}
+#endif
return newEulerObject(eul, Py_NEW);
}
/*---------------------------Matrix.resize4x4() ------------------*/
Modified: branches/blender2.5/blender/source/blender/python/generic/quat.c
===================================================================
--- branches/blender2.5/blender/source/blender/python/generic/quat.c
2009-06-25 18:04:32 UTC (rev 21159)
+++ branches/blender2.5/blender/source/blender/python/generic/quat.c
2009-06-25 20:47:41 UTC (rev 21160)
@@ -77,7 +77,7 @@
{
PyObject *listObject = NULL, *n, *q;
int size, i;
- float quat[4], scalar;
+ float quat[4];
double angle = 0.0f;
size = PyTuple_GET_SIZE(args);
@@ -151,20 +151,22 @@
return NULL;
}
- scalar = PyFloat_AsDouble(q);
+ quat[i] = PyFloat_AsDouble(q);
Py_DECREF(q);
- if (scalar==-1 && PyErr_Occurred()) {
+ if (quat[i]==-1 && PyErr_Occurred()) {
PyErr_SetString(PyExc_TypeError,
"Mathutils.Quaternion(): 4d numeric sequence expected or 3d vector and
number\n");
return NULL;
}
- quat[i] = scalar;
}
if(size == 3) //calculate the quat based on axis/angle
- AxisAngleToQuat(quat, quat, angle * (Py_PI / 180)); // TODO -
2.5 use radians, note using quat for src and target is ok here
+#ifdef USE_MATHUTILS_DEG
+ AxisAngleToQuat(quat, quat, angle * (Py_PI / 180));
+#else
+ AxisAngleToQuat(quat, quat, angle);
+#endif
-
return newQuaternionObject(quat, Py_NEW);
}
@@ -189,28 +191,33 @@
if(!BaseMath_ReadCallback(eul_compat))
return NULL;
+ QuatToMat3(self->quat, mat);
+
+#ifdef USE_MATHUTILS_DEG
for(x = 0; x < 3; x++) {
eul_compatf[x] = eul_compat->eul[x] * ((float)Py_PI /
180);
}
-
- QuatToMat3(self->quat, mat);
Mat3ToCompatibleEul(mat, eul, eul_compatf);
+#else
+ Mat3ToCompatibleEul(mat, eul, eul_compat->eul);
+#endif
}
else {
QuatToEul(self->quat, eul);
}
-
+#ifdef USE_MATHUTILS_DEG
for(x = 0; x < 3; x++) {
eul[x] *= (180 / (float)Py_PI);
}
+#endif
return newEulerObject(eul, Py_NEW);
}
//----------------------------Quaternion.toMatrix()------------------
//return the quat as a matrix
static PyObject *Quaternion_ToMatrix(QuaternionObject * self)
{
- float mat[9] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
+ float mat[9]; /* all values are set */
if(!BaseMath_ReadCallback(self))
return NULL;
@@ -662,7 +669,9 @@
{
double ang = self->quat[0];
ang = 2 * (saacos(ang));
+#ifdef USE_MATHUTILS_DEG
ang *= (180 / Py_PI);
+#endif
return PyFloat_FromDouble(ang);
}
Modified: branches/blender2.5/blender/source/blender/python/generic/vector.c
===================================================================
--- branches/blender2.5/blender/source/blender/python/generic/vector.c
2009-06-25 18:04:32 UTC (rev 21159)
+++ branches/blender2.5/blender/source/blender/python/generic/vector.c
2009-06-25 20:47:41 UTC (rev 21160)
@@ -1771,7 +1771,7 @@
0, /* ob_size */
#endif
/* For printing, in format "<module>.<name>" */
- "Blender Vector", /* char *tp_name; */
+ "vector", /* char *tp_name; */
sizeof( VectorObject ), /* int tp_basicsize; */
0, /* tp_itemsize; For allocation */
Modified:
branches/blender2.5/blender/source/gameengine/Converter/BL_ActionActuator.cpp
===================================================================
---
branches/blender2.5/blender/source/gameengine/Converter/BL_ActionActuator.cpp
2009-06-25 18:04:32 UTC (rev 21159)
+++
branches/blender2.5/blender/source/gameengine/Converter/BL_ActionActuator.cpp
2009-06-25 20:47:41 UTC (rev 21160)
@@ -962,9 +962,9 @@
else {
MT_Vector3 loc;
MT_Vector3 size;
- MT_Vector4 quat;
+ MT_Quaternion quat;
- if (!PyVecTo(pyloc, loc) || !PyVecTo(pysize, size) ||
!PyVecTo(pyquat, quat))
+ if (!PyVecTo(pyloc, loc) || !PyVecTo(pysize, size) ||
!PyQuatTo(pyquat, quat))
return NULL;
// same as above
@@ -977,7 +977,7 @@
@@ Diff output truncated at 10240 characters. @@
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