Commit: 61b6b1fd4097750cd843f9a24708b935c2f32873
Author: Campbell Barton
Date: Sun Feb 1 22:17:18 2015 +1100
Branches: temp-mathutils
https://developer.blender.org/rB61b6b1fd4097750cd843f9a24708b935c2f32873
minor edits to expmap functions
add quat_normalized_to_expmap incase we know the quats already unit length
===================================================================
M source/blender/blenlib/BLI_math_rotation.h
M source/blender/blenlib/intern/math_rotation.c
M source/blender/python/mathutils/mathutils_Quaternion.c
===================================================================
diff --git a/source/blender/blenlib/BLI_math_rotation.h
b/source/blender/blenlib/BLI_math_rotation.h
index c1ce6c9..fbd026f 100644
--- a/source/blender/blenlib/BLI_math_rotation.h
+++ b/source/blender/blenlib/BLI_math_rotation.h
@@ -121,6 +121,7 @@ void angle_to_mat2(float R[2][2], const float angle);
/****************************** Exponential Map ******************************/
void quat_to_expmap(float expmap[3], const float q[4]);
+void quat_normalized_to_expmap(float expmap[3], const float q[4]);
void expmap_to_quat(float r[4], const float expmap[3]);
/******************************** XYZ Eulers *********************************/
diff --git a/source/blender/blenlib/intern/math_rotation.c
b/source/blender/blenlib/intern/math_rotation.c
index f13d795..2d7388a 100644
--- a/source/blender/blenlib/intern/math_rotation.c
+++ b/source/blender/blenlib/intern/math_rotation.c
@@ -1017,23 +1017,30 @@ void angle_to_mat2(float mat[2][2], const float angle)
}
/****************************** Exponential Map ******************************/
-void quat_to_expmap(float expmap[3], const float q[4])
+
+void quat_normalized_to_expmap(float expmap[3], const float q[4])
{
- float quat[4];
float angle;
+ BLI_ASSERT_UNIT_QUAT(q);
/* Obtain axis/angle representation. */
- normalize_qt_qt(quat, q);
- quat_to_axis_angle(expmap, &angle, quat);
+ quat_to_axis_angle(expmap, &angle, q);
/* Convert to exponential map. */
mul_vn_fl(expmap, 3, angle);
}
+void quat_to_expmap(float expmap[3], const float q[4])
+{
+ float q_no[4];
+ normalize_qt_qt(q_no, q);
+ quat_normalized_to_expmap(expmap, q_no);
+}
+
void expmap_to_quat(float r[4], const float expmap[3])
{
- float angle;
float axis[3];
+ float angle;
/* Obtain axis/angle representation. */
angle = normalize_v3_v3(axis, expmap);
diff --git a/source/blender/python/mathutils/mathutils_Quaternion.c
b/source/blender/python/mathutils/mathutils_Quaternion.c
index 48f8e53..786a932 100644
--- a/source/blender/python/mathutils/mathutils_Quaternion.c
+++ b/source/blender/python/mathutils/mathutils_Quaternion.c
@@ -182,9 +182,8 @@ PyDoc_STRVAR(Quaternion_to_exponential_map_doc,
"\n"
" Return the exponential map representation of the quaternion.\n"
"\n"
-" This representation consist of the rotation axis multiplied by the
rotation\n"
-" angle. Such a representation is useful for interpolation between
multiple\n"
-" orientations.\n"
+" This representation consist of the rotation axis multiplied by the
rotation angle."
+" Such a representation is useful for interpolation between multiple
orientations.\n"
"\n"
" :return: exponential map.\n"
" :rtype: :class:`Vector` of size 3\n"
@@ -1101,11 +1100,21 @@ static PyObject *Quaternion_new(PyTypeObject *type,
PyObject *args, PyObject *kw
break;
case 1:
{
- /* Single argument, must be 3-vector or 4-vector. */
int size;
- if ((size = mathutils_array_parse(quat, 3, QUAT_SIZE,
seq, "mathutils.Quaternion()")) == -1)
+
+ if ((size = mathutils_array_parse(quat, 3, QUAT_SIZE,
seq, "mathutils.Quaternion()")) == -1) {
return NULL;
- if (size == 3) expmap_to_quat(quat, quat);
+ }
+
+ if (size == 4) {
+ /* 4d: Quaternion (common case) */
+ }
+ else {
+ /* 3d: Interpret as exponential map */
+ BLI_assert(size == 3);
+ expmap_to_quat(quat, quat);
+ }
+
break;
}
case 2:
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