Revision: 32713
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=32713
Author: campbellbarton
Date: 2010-10-26 14:48:07 +0200 (Tue, 26 Oct 2010)
Log Message:
-----------
move matrix decomposition out of object.c into BLI_math_matrix function:
mat4_to_loc_rot_size(), use this now for pchan_apply_mat4() to support negative
scale, visual keying now uses compatible eulers.
also added access to this in python's mathutils.Matrix()
loc, quat, scale = matrix.decompose()
Modified Paths:
--------------
trunk/blender/source/blender/blenkernel/BKE_armature.h
trunk/blender/source/blender/blenkernel/intern/armature.c
trunk/blender/source/blender/blenkernel/intern/object.c
trunk/blender/source/blender/blenlib/BLI_math_matrix.h
trunk/blender/source/blender/blenlib/intern/math_matrix.c
trunk/blender/source/blender/editors/armature/editarmature.c
trunk/blender/source/blender/makesrna/intern/rna_pose.c
trunk/blender/source/blender/python/generic/mathutils_matrix.c
Modified: trunk/blender/source/blender/blenkernel/BKE_armature.h
===================================================================
--- trunk/blender/source/blender/blenkernel/BKE_armature.h 2010-10-26
07:14:31 UTC (rev 32712)
+++ trunk/blender/source/blender/blenkernel/BKE_armature.h 2010-10-26
12:48:07 UTC (rev 32713)
@@ -105,7 +105,8 @@
void armature_loc_pose_to_bone(struct bPoseChannel *pchan, float *inloc, float
*outloc);
void armature_mat_pose_to_delta(float delta_mat[][4], float pose_mat[][4],
float arm_mat[][4]);
-void pchan_apply_mat4(struct bPoseChannel *pchan, float mat[][4]);
+void pchan_mat3_to_rot(struct bPoseChannel *pchan, float mat[][3], short
use_compat);
+void pchan_apply_mat4(struct bPoseChannel *pchan, float mat[][4], short
use_comat);
void pchan_to_mat4(struct bPoseChannel *pchan, float chan_mat[4][4]);
/* Rotation Mode Conversions - Used for PoseChannels + Objects... */
Modified: trunk/blender/source/blender/blenkernel/intern/armature.c
===================================================================
--- trunk/blender/source/blender/blenkernel/intern/armature.c 2010-10-26
07:14:31 UTC (rev 32712)
+++ trunk/blender/source/blender/blenkernel/intern/armature.c 2010-10-26
12:48:07 UTC (rev 32713)
@@ -1177,32 +1177,30 @@
VECCOPY(outloc, nLocMat[3]);
}
+/* same as object_mat3_to_rot() */
+void pchan_mat3_to_rot(bPoseChannel *pchan, float mat[][3], short use_compat)
+{
+ switch(pchan->rotmode) {
+ case ROT_MODE_QUAT:
+ mat3_to_quat(pchan->quat, mat);
+ break;
+ case ROT_MODE_AXISANGLE:
+ mat3_to_axis_angle(pchan->rotAxis, &pchan->rotAngle, mat);
+ break;
+ default: /* euler */
+ if(use_compat) mat3_to_compatible_eulO(pchan->eul, pchan->eul,
pchan->rotmode, mat);
+ else mat3_to_eulO(pchan->eul,
pchan->rotmode, mat);
+ }
+}
/* Apply a 4x4 matrix to the pose bone,
* similar to object_apply_mat4()
*/
-void pchan_apply_mat4(bPoseChannel *pchan, float mat[][4])
+void pchan_apply_mat4(bPoseChannel *pchan, float mat[][4], short use_compat)
{
- /* location */
- copy_v3_v3(pchan->loc, mat[3]);
-
- /* scale */
- mat4_to_size(pchan->size, mat);
-
- /* rotation */
- if (pchan->rotmode == ROT_MODE_AXISANGLE) {
- float tmp_quat[4];
-
- /* need to convert to quat first (in temp var)... */
- mat4_to_quat(tmp_quat, mat);
- quat_to_axis_angle(pchan->rotAxis, &pchan->rotAngle, tmp_quat);
- }
- else if (pchan->rotmode == ROT_MODE_QUAT) {
- mat4_to_quat(pchan->quat, mat);
- }
- else {
- mat4_to_eulO(pchan->eul, pchan->rotmode, mat);
- }
+ float rot[3][3];
+ mat4_to_loc_rot_size(pchan->loc, rot, pchan->size, mat);
+ pchan_mat3_to_rot(pchan, rot, use_compat);
}
/* Remove rest-position effects from pose-transform for obtaining
Modified: trunk/blender/source/blender/blenkernel/intern/object.c
===================================================================
--- trunk/blender/source/blender/blenkernel/intern/object.c 2010-10-26
07:14:31 UTC (rev 32712)
+++ trunk/blender/source/blender/blenkernel/intern/object.c 2010-10-26
12:48:07 UTC (rev 32713)
@@ -1680,54 +1680,25 @@
void object_mat3_to_rot(Object *ob, float mat[][3], short use_compat)
{
- if (ob->rotmode == ROT_MODE_QUAT)
+ switch(ob->rotmode) {
+ case ROT_MODE_QUAT:
mat3_to_quat(ob->quat, mat);
- else if (ob->rotmode == ROT_MODE_AXISANGLE)
+ break;
+ case ROT_MODE_AXISANGLE:
mat3_to_axis_angle(ob->rotAxis, &ob->rotAngle, mat);
- else {
- if(use_compat) {
- float eul[3];
- VECCOPY(eul, ob->rot);
- mat3_to_compatible_eulO(ob->rot, eul, ob->rotmode, mat);
- }
- else
- mat3_to_eulO(ob->rot, ob->rotmode, mat);
+ break;
+ default: /* euler */
+ if(use_compat) mat3_to_compatible_eulO(ob->rot, ob->rot,
ob->rotmode, mat);
+ else mat3_to_eulO(ob->rot, ob->rotmode, mat);
}
}
/* see pchan_apply_mat4() for the equivalent 'pchan' function */
void object_apply_mat4(Object *ob, float mat[][4], short use_compat)
{
- float mat3[3][3]; /* obmat -> 3x3 */
- float mat3_n[3][3]; /* obmat -> normalized, 3x3 */
- float imat3_n[3][3]; /* obmat -> normalized & inverted, 3x3 */
-
- /* location */
- copy_v3_v3(ob->loc, mat[3]);
-
- /* rotation & scale are linked, we need to create the mat's
- * for these together since they are related. */
- copy_m3_m4(mat3, mat);
- /* so scale doesnt interfear with rotation [#24291] */
- /* note: this is a workaround for negative matrix not working for
rotation conversion, FIXME */
- normalize_m3_m3(mat3_n, (const float(*)[3])mat3);
- if(is_negative_m3(mat3_n)) {
- negate_v3(mat3_n[0]);
- negate_v3(mat3_n[1]);
- negate_v3(mat3_n[2]);
- }
-
- /* rotation */
- object_mat3_to_rot(ob, mat3_n, use_compat);
-
- /* scale */
- /* note: mat4_to_size(ob->size, mat) fails for negative scale */
- invert_m3_m3(imat3_n, mat3_n);
- mul_m3_m3m3(mat3, imat3_n, mat3);
-
- ob->size[0]= mat3[0][0];
- ob->size[1]= mat3[1][1];
- ob->size[2]= mat3[2][2];
+ float rot[3][3];
+ mat4_to_loc_rot_size(ob->loc, rot, ob->size, mat);
+ object_mat3_to_rot(ob, rot, use_compat);
}
void object_to_mat3(Object *ob, float mat[][3]) /* no parent */
Modified: trunk/blender/source/blender/blenlib/BLI_math_matrix.h
===================================================================
--- trunk/blender/source/blender/blenlib/BLI_math_matrix.h 2010-10-26
07:14:31 UTC (rev 32712)
+++ trunk/blender/source/blender/blenlib/BLI_math_matrix.h 2010-10-26
12:48:07 UTC (rev 32713)
@@ -144,6 +144,8 @@
void translate_m4(float mat[4][4], float tx, float ty, float tz);
void rotate_m4(float mat[4][4], const char axis, const float angle);
+void mat4_to_loc_rot_size(float loc[3], float rot[3][3], float size[3], float
wmat[][4]);
+
void loc_eul_size_to_mat4(float R[4][4],
const float loc[3], const float eul[3], const float size[3]);
void loc_eulO_size_to_mat4(float R[4][4],
Modified: trunk/blender/source/blender/blenlib/intern/math_matrix.c
===================================================================
--- trunk/blender/source/blender/blenlib/intern/math_matrix.c 2010-10-26
07:14:31 UTC (rev 32712)
+++ trunk/blender/source/blender/blenlib/intern/math_matrix.c 2010-10-26
12:48:07 UTC (rev 32713)
@@ -952,6 +952,48 @@
return mat3_to_scale(tmat);
}
+void mat4_to_loc_rot_size(float loc[3], float rot[3][3], float size[3], float
wmat[][4])
+{
+ float mat3[3][3]; /* wmat -> 3x3 */
+ float mat3_n[3][3]; /* wmat -> normalized, 3x3 */
+ float imat3_n[3][3]; /* wmat -> normalized & inverted, 3x3 */
+ short is_neg;
+ /* location */
+ copy_v3_v3(loc, wmat[3]);
+
+ /* rotation & scale are linked, we need to create the mat's
+ * for these together since they are related. */
+ copy_m3_m4(mat3, wmat);
+ /* so scale doesnt interfear with rotation [#24291] */
+ /* note: this is a workaround for negative matrix not working for
rotation conversion, FIXME */
+ is_neg= is_negative_m3(mat3);
+ normalize_m3_m3(mat3_n, (const float(*)[3])mat3);
+ if(is_neg) {
+ negate_v3(mat3_n[0]);
+ negate_v3(mat3_n[1]);
+ negate_v3(mat3_n[2]);
+ }
+
+ /* rotation */
+ /* keep rot as a 3x3 matrix, the caller can convert into a quat or
euler */
+ copy_m3_m3(rot, mat3_n);
+
+ /* scale */
+ /* note: mat4_to_size(ob->size, mat) fails for negative scale */
+ invert_m3_m3(imat3_n, mat3_n);
+ mul_m3_m3m3(mat3, imat3_n, mat3);
+
+ size[0]= mat3[0][0];
+ size[1]= mat3[1][1];
+ size[2]= mat3[2][2];
+
+ /* with a negative matrix, all scaled will be negative
+ * flipping isnt needed but nicer to result in a positive scale */
+ if(is_neg) {
+ negate_v3(size);
+ }
+}
+
void scale_m3_fl(float m[][3], float scale)
{
m[0][0]= m[1][1]= m[2][2]= scale;
Modified: trunk/blender/source/blender/editors/armature/editarmature.c
===================================================================
--- trunk/blender/source/blender/editors/armature/editarmature.c
2010-10-26 07:14:31 UTC (rev 32712)
+++ trunk/blender/source/blender/editors/armature/editarmature.c
2010-10-26 12:48:07 UTC (rev 32713)
@@ -681,7 +681,7 @@
invert_m4_m4(imat, pchan->pose_mat);
mul_m4_m4m4(delta_mat, mat, imat);
- pchan_apply_mat4(pchan, delta_mat);
+ pchan_apply_mat4(pchan, delta_mat, TRUE);
where_is_pose_bone(scene, ob, pchan, CFRA, 1);
}
Modified: trunk/blender/source/blender/makesrna/intern/rna_pose.c
===================================================================
--- trunk/blender/source/blender/makesrna/intern/rna_pose.c 2010-10-26
07:14:31 UTC (rev 32712)
+++ trunk/blender/source/blender/makesrna/intern/rna_pose.c 2010-10-26
12:48:07 UTC (rev 32713)
@@ -550,7 +550,7 @@
static void rna_PoseChannel_matrix_local_set(PointerRNA *ptr, const float
*values)
{
bPoseChannel *pchan= (bPoseChannel*)ptr->data;
- pchan_apply_mat4(pchan, (float (*)[4])values);
+ pchan_apply_mat4(pchan, (float (*)[4])values, FALSE); /* no compat for
pradictable result */
}
#else
Modified: trunk/blender/source/blender/python/generic/mathutils_matrix.c
===================================================================
--- trunk/blender/source/blender/python/generic/mathutils_matrix.c
2010-10-26 07:14:31 UTC (rev 32712)
+++ trunk/blender/source/blender/python/generic/mathutils_matrix.c
2010-10-26 12:48:07 UTC (rev 32713)
@@ -942,6 +942,7 @@
scale[2]= tmat[2][2];
return newVectorObject(scale, 3, Py_NEW, NULL);
}
+
/*---------------------------Matrix.invert() ---------------------*/
static char Matrix_Invert_doc[] =
".. method:: invert()\n"
@@ -1009,7 +1010,42 @@
return (PyObject *)self;
}
+/*---------------------------Matrix.decompose() ---------------------*/
+static char Matrix_decompose_doc[] =
+".. method:: decompose()\n"
+"\n"
+" Return the location, rotaion and scale components of this matrix.\n"
+"\n"
+" :return: loc, rot, scale triple.\n"
+" :rtype: (:class:`Vector`, :class:`Quaternion`, :class:`Vector`)";
+static PyObject *Matrix_decompose(MatrixObject * self)
+{
+ PyObject *ret;
+ float loc[3];
+ float rot[3][3];
+ float quat[4];
+ float size[3];
+ if(self->colSize != 4 || self->rowSize != 4) {
+ PyErr_SetString(PyExc_AttributeError, "Matrix.decompose():
inappropriate matrix size - expects 4x4 matrix\n");
+ return NULL;
+ }
+
+ if(!BaseMath_ReadCallback(self))
+ return NULL;
+
+ mat4_to_loc_rot_size(loc, rot, size, (float (*)[4])self->contigPtr);
+ mat3_to_quat(quat, rot);
+
+ ret= PyTuple_New(3);
+ PyTuple_SET_ITEM(ret, 0, newVectorObject(loc, 3, Py_NEW, NULL));
+ PyTuple_SET_ITEM(ret, 1, newQuaternionObject(quat, Py_NEW, NULL));
+ PyTuple_SET_ITEM(ret, 2, newVectorObject(size, 3, Py_NEW, NULL));
+
+ return ret;
+}
+
+
@@ Diff output truncated at 10240 characters. @@
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