Commit: 7017a5fd30e7d47a1eaf34dc7716013421a8f70e Author: Sybren A. Stüvel Date: Wed Feb 15 15:20:23 2017 +0100 Branches: temp-sybren-alembic https://developer.blender.org/rB7017a5fd30e7d47a1eaf34dc7716013421a8f70e
Alembic: removed a lot of unnecessary & duplicate code from abc_util.cc create_transform_matrix(float[4][4]) did mostly the same as create_transform_matrix(Object *, float[4][4]), but more elegant. However, the former has some inconsistencies with the latter (which are now merged and made explicit, turned out one was for z-up→y-up while the other was for y-up→z-up), and was renamed to copy_m44_axis_swap(...) to convey its purpose more clearly. Furthermore, "loc" has been renamed to "trans", as matrices don't store locations but translations; and more variables now have a src_ or dst_ prefix to denote whether they contain a matrix/vector in the source or destination axis orientation. =================================================================== M source/blender/alembic/intern/abc_util.cc M source/blender/alembic/intern/abc_util.h =================================================================== diff --git a/source/blender/alembic/intern/abc_util.cc b/source/blender/alembic/intern/abc_util.cc index d5775f235a..2c9f0f1117 100644 --- a/source/blender/alembic/intern/abc_util.cc +++ b/source/blender/alembic/intern/abc_util.cc @@ -160,57 +160,68 @@ static void create_rotation_matrix( rot_z_mat[1][1] = cos(rz); } -/* Recompute transform matrix of object in new coordinate system - * (from Y-Up to Z-Up). - * - * Note that r_mat is used as both input and output parameter. - */ -void create_transform_matrix(float r_mat[4][4]) +/* Convert matrix from Z=up to Y=up or vice versa. Use yup_mat = zup_mat for in-place conversion. */ +void copy_m44_axis_swap(float dst_mat[4][4], float src_mat[4][4], AbcAxisSwapMode mode) { - float rot_mat[3][3], rot[3][3], scale_mat[4][4], invmat[4][4], transform_mat[4][4]; + float dst_rot[3][3], src_rot[3][3], dst_scale_mat[4][4]; float rot_x_mat[3][3], rot_y_mat[3][3], rot_z_mat[3][3]; - float loc[3], scale[3], euler[3]; + float src_trans[3], dst_scale[3], src_scale[3], euler[3]; - zero_v3(loc); - zero_v3(scale); + zero_v3(src_trans); + zero_v3(dst_scale); + zero_v3(src_scale); zero_v3(euler); - unit_m3(rot); - unit_m3(rot_mat); - unit_m4(scale_mat); - unit_m4(transform_mat); - unit_m4(invmat); + unit_m3(src_rot); + unit_m3(dst_rot); + unit_m4(dst_scale_mat); - /* Compute rotation matrix. */ + /* We assume there is no sheer component and no homogeneous scaling component. */ + BLI_assert(src_mat[0][3] == 0.0); + BLI_assert(src_mat[1][3] == 0.0); + BLI_assert(src_mat[2][3] == 0.0); + BLI_assert(src_mat[3][3] == 1.0); - /* Extract location, rotation, and scale from matrix. */ - mat4_to_loc_rot_size(loc, rot, scale, r_mat); + /* Extract translation, rotation, and scale form matrix. */ + mat4_to_loc_rot_size(src_trans, src_rot, src_scale, src_mat); /* Get euler angles from rotation matrix. */ - mat3_to_eulO(euler, ROT_MODE_XYZ, rot); + mat3_to_eulO(euler, ROT_MODE_XYZ, src_rot); /* Create X, Y, Z rotation matrices from euler angles. */ - create_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler, false); + create_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler, + mode == ABC_ZUP_FROM_YUP); /* Concatenate rotation matrices. */ - mul_m3_m3m3(rot_mat, rot_mat, rot_y_mat); - mul_m3_m3m3(rot_mat, rot_mat, rot_z_mat); - mul_m3_m3m3(rot_mat, rot_mat, rot_x_mat); - - /* Add rotation matrix to transformation matrix. */ - copy_m4_m3(transform_mat, rot_mat); - - /* Add translation to transformation matrix. */ - copy_zup_from_yup(transform_mat[3], loc); - - /* Create scale matrix. */ - scale_mat[0][0] = scale[0]; - scale_mat[1][1] = scale[2]; - scale_mat[2][2] = scale[1]; + mul_m3_m3m3(dst_rot, dst_rot, rot_y_mat); + mul_m3_m3m3(dst_rot, dst_rot, rot_z_mat); + mul_m3_m3m3(dst_rot, dst_rot, rot_x_mat); + + mat3_to_eulO(euler, ROT_MODE_XYZ, dst_rot); + + /* Start construction of dst_mat from rotation matrix */ + unit_m4(dst_mat); + copy_m4_m3(dst_mat, dst_rot); + + /* Apply translation */ + switch(mode) { + case ABC_ZUP_FROM_YUP: + copy_zup_from_yup(dst_mat[3], src_trans); + break; + case ABC_YUP_FROM_ZUP: + copy_yup_from_zup(dst_mat[3], src_trans); + break; + default: + BLI_assert(false); + } - /* Add scale to transformation matrix. */ - mul_m4_m4m4(transform_mat, transform_mat, scale_mat); + /* Apply scale matrix. Swaps y and z, but does not + * negate like translation does. */ + dst_scale[0] = src_scale[0]; + dst_scale[1] = src_scale[2]; + dst_scale[2] = src_scale[1]; - copy_m4_m4(r_mat, transform_mat); + size_to_mat4(dst_scale_mat, dst_scale); + mul_m4_m4m4(dst_mat, dst_mat, dst_scale_mat); } void convert_matrix(const Imath::M44d &xform, Object *ob, @@ -228,7 +239,7 @@ void convert_matrix(const Imath::M44d &xform, Object *ob, mul_m4_m4m4(r_mat, r_mat, cam_to_yup); } - create_transform_matrix(r_mat); + copy_m44_axis_swap(r_mat, r_mat, ABC_ZUP_FROM_YUP); if (!has_alembic_parent) { /* Only apply scaling to root objects, parenting will propagate it. */ @@ -239,195 +250,28 @@ void convert_matrix(const Imath::M44d &xform, Object *ob, } } -/* Recompute transform matrix of object in new coordinate system (from Z-Up to Y-Up). */ -void create_transform_matrix(Object *obj, float transform_mat[4][4]) +/* Recompute transform matrix of object in new coordinate system + * (from Z-Up to Y-Up). */ +void create_transform_matrix(Object *obj, float yup_mat[4][4]) { - float rot_mat[3][3], rot[3][3], scale_mat[4][4], invmat[4][4], mat[4][4]; - float rot_x_mat[3][3], rot_y_mat[3][3], rot_z_mat[3][3]; - float loc[3], scale[3], euler[3]; - - zero_v3(loc); - zero_v3(scale); - zero_v3(euler); - unit_m3(rot); - unit_m3(rot_mat); - unit_m4(scale_mat); - unit_m4(transform_mat); - unit_m4(invmat); - unit_m4(mat); + float zup_mat[4][4]; /* get local matrix. */ /* TODO Sybren: when we're exporting as "flat", i.e. non-hierarchial, * we should export the world matrix even when the object has a parent * Blender Object. */ if (obj->parent) { - invert_m4_m4(invmat, obj->parent->obmat); - mul_m4_m4m4(mat, invmat, obj->obmat); + /* Note that this produces another matrix than the local matrix, due to + * constraints and modifiers as well as the obj->parentinv matrix. */ + invert_m4_m4(obj->parent->imat, obj->parent->obmat); + mul_m4_m4m4(zup_mat, obj->parent->imat, obj->obmat); } else { - copy_m4_m4(mat, obj->obmat); + copy_m4_m4(zup_mat, obj->obmat); } - /* Compute rotation matrix. */ - switch (obj->rotmode) { - case ROT_MODE_AXISANGLE: - { - /* Get euler angles from axis angle rotation. */ - axis_angle_to_eulO(euler, ROT_MODE_XYZ, obj->rotAxis, obj->rotAngle); - - /* Create X, Y, Z rotation matrices from euler angles. */ - create_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler, true); - - /* Concatenate rotation matrices. */ - mul_m3_m3m3(rot_mat, rot_mat, rot_y_mat); - mul_m3_m3m3(rot_mat, rot_mat, rot_z_mat); - mul_m3_m3m3(rot_mat, rot_mat, rot_x_mat); - - /* Extract location and scale from matrix. */ - mat4_to_loc_rot_size(loc, rot, scale, mat); - - break; - } - case ROT_MODE_QUAT: - { - float q[4]; - copy_v4_v4(q, obj->quat); - - /* Swap axis. */ - q[2] = obj->quat[3]; - q[3] = -obj->quat[2]; - - /* Compute rotation matrix from quaternion. */ - quat_to_mat3(rot_mat, q); - - /* Extract location and scale from matrix. */ - mat4_to_loc_rot_size(loc, rot, scale, mat); - - break; - } - case ROT_MODE_XYZ: - { - /* Extract location, rotation, and scale form matrix. */ - mat4_to_loc_rot_size(loc, rot, scale, mat); - - /* Get euler angles from rotation matrix. */ - mat3_to_eulO(euler, ROT_MODE_XYZ, rot); - - /* Create X, Y, Z rotation matrices from euler angles. */ - create_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler, true); - - /* Concatenate rotation matrices. */ - mul_m3_m3m3(rot_mat, rot_mat, rot_y_mat); - mul_m3_m3m3(rot_mat, rot_mat, rot_z_mat); - mul_m3_m3m3(rot_mat, rot_mat, rot_x_mat); - - break; - } - case ROT_MODE_XZY: - { - /* Extract location, rotation, and scale form matrix. */ - mat4_to_loc_rot_size(loc, rot, scale, mat); - - /* Get euler angles from rotation matrix. */ - mat3_to_eulO(euler, ROT_MODE_XZY, rot); - - /* Create X, Y, Z rotation matrices from euler angles. */ - create_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler, true); - - /* Concatenate rotation matrices. */ - mul_m3_m3m3(rot_mat, rot_mat, rot_z_mat); - mul_m3_m3m3(rot_mat, rot_mat, rot_y_mat); - mul_m3_m3m3(rot_mat, rot_mat, rot_x_mat); - - break; - } - case ROT_MODE_YXZ: - { - /* Extract location, rotation, and scale form matrix. */ - mat4_to_loc_rot_size(loc, rot, scale, mat); - - /* Get euler angles from rotation matrix. */ - mat3_to_eulO(euler, ROT_MODE_YXZ, rot); - - /* Create X, Y, Z rotation matrices from euler angles. */ - create_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler, true); - - /* Concatenate rotation matrices. */ - mul_m3_m3m3(rot_mat, rot_mat, rot_y_mat); - mul_m3_m3m3(rot_mat, rot_mat, rot_x_mat); - mul_m3_m3m3(rot_mat, rot_mat, rot_z_mat); - - break; - } - case ROT_MODE_YZX: - { - /* Extract location, rotation, and scale form matrix. */ - mat4_to_loc_rot_size(loc, rot, scale, mat); - - /* Get euler angles from rotation matrix. */ - mat3_to_eulO(euler, ROT_MODE_YZX, rot); - - /* Create X, Y, Z rotation matrices from euler angles. */ - create_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler, true); - - /* Concatenate rotation matrices. */ - mul_m3_m3m3(rot_mat, rot_mat, rot_x_mat); - mul_m3_m3m3(rot_mat, rot_mat, rot_y_mat); - mul_m3_m3m3(rot_mat, rot_mat, rot_z_mat); - - break; - } - case ROT_MODE_ZXY: - { - /* Extract location, rotation, and scale form matrix. */ - mat4_to_loc_rot_size(loc, rot, scale, mat); - - /* Get euler angles from rotation matrix. */ - mat3_to_eulO(euler, ROT_MODE_ZXY, rot); - - /* Create X, Y, Z rotation matrices from euler angles. */ - create_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler, true); - - /* Concatenate rotation matrices. */ - mul_m3_m3m3(rot_mat, rot_mat, rot_z_mat); - mul_m3_m3m3(rot_mat, rot_mat, rot_x_mat); - mul_m3_m3m3(rot_mat, rot_mat, rot_y_mat); - - break; - } - case ROT_MODE_ZYX: - { - /* Extract location, rotation, and scale form matrix. */ - mat4_to_loc_rot_size(loc, rot, scale, mat); - - /* Get euler angles from rotation matrix. */ - mat3_to_eulO(euler, ROT_MODE_ZYX, rot); - - /* Create X, Y, Z rotation matrices from euler angles. */ - create_rotation_matrix(rot_x_mat, rot_y_mat, rot_z_mat, euler, true); - - /* Concatenate rotation matrices. */ - mul_m3_m3m3(rot_mat, rot_mat, rot_x_mat); - mul_m3_m3m3(rot_mat, rot_mat, rot_z_mat); - mul_m3_m3m3(rot_mat, rot_mat, rot_y_mat); - - break; - } - } - - /* Add rotation matrix to transformation matrix. */ - copy_m4_m3(transform_mat, rot_mat); - - /* Add translation to transformation matrix. */ - copy_yup_from_zup(transform_mat[3], loc); - - /* Create scale matrix. */ - scale_mat[0][0] = scale[0]; - scale_mat[1][1] = scale[2]; - scale_mat[2][2] = scale[1]; - /* Add scale to transformation matrix. */ - mul_m4_m4m4(t @@ Diff output truncated at 10240 characters. @@ _______________________________________________ Bf-blender-cvs mailing list Bf-blender-cvs@blender.org https://lists.blender.org/mailman/listinfo/bf-blender-cvs