math_rotation.c File Reference

#include <assert.h>
#include "BLI_math.h"

Go to the source code of this file.

Classes
struct	RotOrderInfo
Defines
#define	QUAT_EPSILON   0.0001
#define	GET_ROTATIONORDER_INFO(order)   (assert(order>=0 && order<=6), (order < 1) ? &rotOrders[0] : &rotOrders[(order)-1])
Typedefs
typedef struct RotOrderInfo	RotOrderInfo
Functions
void	unit_axis_angle (float axis[3], float *angle)
void	unit_qt (float q[4])
void	copy_qt_qt (float q1[4], const float q2[4])
int	is_zero_qt (float *q)
void	mul_qt_qtqt (float *q, const float *q1, const float *q2)
void	mul_qt_v3 (const float *q, float *v)
void	conjugate_qt (float *q)
float	dot_qtqt (const float q1[4], const float q2[4])
void	invert_qt (float *q)
void	invert_qt_qt (float *q1, const float *q2)
void	mul_qt_fl (float *q, const float f)
void	sub_qt_qtqt (float q[4], const float q1[4], const float q2[4])
void	mul_fac_qt_fl (float *q, const float fac)
static void	quat_to_mat3_no_error (float m[][3], const float q[4])
void	quat_to_mat3 (float m[][3], const float q[4])
void	quat_to_mat4 (float m[][4], const float q[4])
void	mat3_to_quat (float *q, float wmat[][3])
void	mat4_to_quat (float *q, float m[][4])
void	mat3_to_quat_is_ok (float q[4], float wmat[3][3])
float	normalize_qt (float *q)
float	normalize_qt_qt (float r[4], const float q[4])
void	rotation_between_vecs_to_quat (float *q, const float v1[3], const float v2[3])
void	rotation_between_quats_to_quat (float *q, const float q1[4], const float q2[4])
void	vec_to_quat (float q[4], const float vec[3], short axis, const short upflag)
void	interp_qt_qtqt (float result[4], const float quat1[4], const float quat2[4], const float t)
void	add_qt_qtqt (float result[4], const float quat1[4], const float quat2[4], const float t)
void	tri_to_quat (float quat[4], const float v1[3], const float v2[3], const float v3[3])
void	print_qt (const char *str, const float q[4])
void	axis_angle_to_quat (float q[4], const float axis[3], float angle)
void	quat_to_axis_angle (float axis[3], float *angle, const float q[4])
void	axis_angle_to_eulO (float eul[3], const short order, const float axis[3], const float angle)
void	eulO_to_axis_angle (float axis[3], float *angle, const float eul[3], const short order)
void	axis_angle_to_mat3 (float mat[3][3], const float axis[3], const float angle)
void	axis_angle_to_mat4 (float mat[4][4], const float axis[3], const float angle)
void	mat3_to_axis_angle (float axis[3], float *angle, float mat[3][3])
void	mat4_to_axis_angle (float axis[3], float *angle, float mat[4][4])
void	single_axis_angle_to_mat3 (float mat[3][3], const char axis, const float angle)
void	vec_rot_to_mat3 (float mat[][3], const float vec[3], const float phi)
void	vec_rot_to_mat4 (float mat[][4], const float vec[3], const float phi)
void	vec_rot_to_quat (float *quat, const float vec[3], const float phi)
void	eul_to_mat3 (float mat[][3], const float eul[3])
void	eul_to_mat4 (float mat[][4], const float eul[3])
static void	mat3_to_eul2 (float tmat[][3], float eul1[3], float eul2[3])
void	mat3_to_eul (float *eul, float tmat[][3])
void	mat4_to_eul (float *eul, float tmat[][4])
void	quat_to_eul (float *eul, const float quat[4])
void	eul_to_quat (float *quat, const float eul[3])
void	rotate_eul (float *beul, const char axis, const float ang)
void	compatible_eul (float eul[3], const float oldrot[3])
void	mat3_to_compatible_eul (float eul[3], const float oldrot[3], float mat[][3])
void	eulO_to_quat (float q[4], const float e[3], const short order)
void	quat_to_eulO (float e[3], short const order, const float q[4])
void	eulO_to_mat3 (float M[3][3], const float e[3], const short order)
static void	mat3_to_eulo2 (float M[3][3], float *e1, float *e2, short order)
void	eulO_to_mat4 (float M[4][4], const float e[3], const short order)
void	mat3_to_eulO (float eul[3], const short order, float M[3][3])
void	mat4_to_eulO (float e[3], const short order, float M[4][4])
void	mat3_to_compatible_eulO (float eul[3], float oldrot[3], short order, float mat[3][3])
void	mat4_to_compatible_eulO (float eul[3], float oldrot[3], short order, float M[4][4])
void	rotate_eulO (float beul[3], short order, char axis, float ang)
void	eulO_to_gimbal_axis (float gmat[][3], const float eul[3], const short order)
void	mat4_to_dquat (DualQuat *dq, float basemat[][4], float mat[][4])
void	dquat_to_mat4 (float mat[][4], DualQuat *dq)
void	add_weighted_dq_dq (DualQuat *dqsum, DualQuat *dq, float weight)
void	normalize_dq (DualQuat *dq, float totweight)
void	mul_v3m3_dq (float *co, float mat[][3], DualQuat *dq)
void	copy_dq_dq (DualQuat *dq1, DualQuat *dq2)
void	quat_apply_track (float quat[4], short axis, short upflag)
void	vec_apply_track (float vec[3], short axis)
float	focallength_to_fov (float focal_length, float sensor)
float	fov_to_focallength (float hfov, float sensor)
static float	mod_inline (float a, float b)
float	angle_wrap_rad (float angle)
float	angle_wrap_deg (float angle)
Variables
static RotOrderInfo	rotOrders []

---

Detailed Description

Definition in file math_rotation.c.

---

Define Documentation

#define GET_ROTATIONORDER_INFO

(

order

)

(assert(order>=0 && order<=6), (order < 1) ? &rotOrders[0] : &rotOrders[(order)-1])

Definition at line 1167 of file math_rotation.c.

Referenced by eulO_to_gimbal_axis(), eulO_to_mat3(), eulO_to_quat(), and mat3_to_eulo2().

#define QUAT_EPSILON   0.0001

Definition at line 38 of file math_rotation.c.

Referenced by quat_to_axis_angle(), quat_to_mat3(), and quat_to_mat4().

---

Typedef Documentation

typedef struct RotOrderInfo RotOrderInfo

---

Function Documentation

void add_qt_qtqt	(	float	result[4],
		const float	quat1[4],
		const float	quat2[4],
		const float	t
	)

Definition at line 584 of file math_rotation.c.

Referenced by pose_slide_apply_quat(), and Quaternion_add().

void add_weighted_dq_dq	(	DualQuat *	dqsum,
		DualQuat *	dq,
		float	weight
	)

Definition at line 1506 of file math_rotation.c.

References add_m4_m4m4(), copy_m4_m4(), dot_qtqt(), mul_m4_fl(), DualQuat::quat, DualQuat::scale, DualQuat::scale_weight, and DualQuat::trans.

Referenced by dist_bone_deform(), and pchan_bone_deform().

float angle_wrap_deg

(

float

angle

)

Definition at line 1712 of file math_rotation.c.

References mod_inline().

float angle_wrap_rad

(

float

angle

)

Definition at line 1707 of file math_rotation.c.

References M_PI, and mod_inline().

Referenced by C_Matrix_Rotation(), Quaternion_angle_set(), Quaternion_new(), and Rotation().

void axis_angle_to_eulO	(	float	eul[3],
		const short	order,
		const float	axis[3],
		const float	angle
	)

Definition at line 690 of file math_rotation.c.

References axis_angle_to_quat(), and quat_to_eulO().

Referenced by BKE_rotMode_change_values(), object_clear_rot(), pchan_clear_rot(), pose_bone_do_paste(), and protectedAxisAngleBits().

void axis_angle_to_mat3	(	float	mat[3][3],
		const float	axis[3],
		const float	angle
	)

Definition at line 710 of file math_rotation.c.

References co, cos(), normalize_v3_v3(), si, sin(), and unit_m3().

Referenced by apply_targetless_ik(), applyModifier(), axis_angle_to_mat4(), C_Matrix_Rotation(), damptrack_evaluate(), joint_callback(), object_rot_to_mat3(), pchan_to_mat4(), and splineik_evaluate_bone().

void axis_angle_to_mat4	(	float	mat[4][4],
		const float	axis[3],
		const float	angle
	)

Definition at line 741 of file math_rotation.c.

References axis_angle_to_mat3(), copy_m4_m3(), and unit_m4().

Referenced by constraintob_from_transdata(), TransformReader::dae_rotate_to_mat4(), do_rotate_brush(), and AnimationImporter::evaluate_animation().

void axis_angle_to_quat	(	float	q[4],
		const float	axis[3],
		float	angle
	)

Definition at line 644 of file math_rotation.c.

References cos(), normalize_v3_v3(), si, sin(), and unit_qt().

Referenced by applyModifier(), applyTranslation(), axis_angle_to_eulO(), axis_angle_to_gimbal_axis(), basic_rotate(), bevel_list_apply_tilt(), bevel_list_smooth(), BKE_rotMode_change_values(), boid_body(), cache_key_incremental_rotation(), do_guides(), do_kink(), draw_rotation_guide(), ElementRotation(), flyApply(), flyApply_ndof(), loc_axisangle_size_to_mat4(), make_bevel_list_3D_minimum_twist(), make_bevel_list_segment_3D(), ndof_orbit_invoke(), ndof_to_quat(), pose_bone_do_paste(), psys_get_birth_coordinates(), psys_get_dupli_path_transform(), Quaternion_angle_set(), Quaternion_axis_vector_set(), Quaternion_new(), rollBoneByQuatJoint(), rotation_between_vecs_to_quat(), v3d_posearmature_buts(), view3d_align_axis_to_vector(), and viewrotate_apply().

void compatible_eul	(	float	eul[3],
		const float	oldrot[3]
	)

Definition at line 1046 of file math_rotation.c.

References fabs(), and M_PI.

Referenced by dvar_eval_transChan(), Euler_make_compatible(), mat3_to_compatible_eul(), mat3_to_compatible_eulO(), and rotlike_evaluate().

void conjugate_qt

(

float *

q

)

Definition at line 101 of file math_rotation.c.

void copy_dq_dq	(	DualQuat *	dq1,
		DualQuat *	dq2
	)

Definition at line 1613 of file math_rotation.c.

Referenced by b_bone_deform().

void copy_qt_qt	(	float	q1[4],
		const float	q2[4]
	)

Definition at line 56 of file math_rotation.c.

Referenced by add_pose_transdata(), bevel_list_cyclic_fix_3D(), bevel_list_smooth(), boid_body(), calc_curve_deform(), copy_attr(), copy_pose_channel_data(), copy_pose_result(), createTransMBallVerts(), do_path_effectors(), dquat_to_mat4(), ED_object_rotation_from_view(), equalize_bezier(), fcurves_to_pchan_links_get(), flyEnd(), game_blend_poses(), initFlyInfo(), invert_qt_qt(), make_bevel_list_3D_minimum_twist(), make_bevel_list_segment_3D(), normalize_qt_qt(), object_clear_rot(), object_tfm_backup(), object_tfm_restore(), ObjectToTransData(), offset_child(), pose_bone_do_paste(), pose_slide_apply_quat(), poseAnim_mapping_reset(), psys_cache_edit_paths(), psys_get_birth_coordinates(), psys_get_from_key(), psys_thread_create_path(), quat_mul_float(), Quaternion_CreatePyObject(), region_quadview_exec(), repositionControl(), restore_localviewdata(), restoreElement(), rotation_between_quats_to_quat(), smooth_view(), view3d_camera_to_view_exec(), view3d_smoothview_invoke(), view3d_split_250(), viewnumpad_exec(), viewops_data_create(), viewrotate_apply(), where_on_path(), and where_on_path_deform().

float dot_qtqt	(	const float	q1[4],
		const float	q2[4]
	)

Definition at line 108 of file math_rotation.c.

Referenced by add_weighted_dq_dq(), dquat_to_mat4(), invert_qt(), mul_v3m3_dq(), normalize_qt(), quat_to_axis_angle(), quat_to_mat3(), quat_to_mat4(), Quaternion_dot(), Quaternion_magnitude_get(), and rotation_between_quats_to_quat().

void dquat_to_mat4	(	float	mat[][4],
		DualQuat *	dq
	)

Definition at line 1482 of file math_rotation.c.

References copy_qt_qt(), dot_qtqt(), len(), mul_qt_fl(), DualQuat::quat, quat_to_mat4(), sqrt(), and DualQuat::trans.

void eul_to_mat3	(	float	mat[][3],
		const float	eul[3]
	)

Definition at line 882 of file math_rotation.c.

References cos(), si, and sin().

void eul_to_mat4	(	float	mat[][4],
		const float	eul[3]
	)

Definition at line 910 of file math_rotation.c.

References cos(), si, and sin().

void eul_to_quat	(	float *	quat,
		const float	eul[3]
	)

Definition at line 1008 of file math_rotation.c.

References cos(), si, and sin().

void eulO_to_axis_angle	(	float	axis[3],
		float *	angle,
		const float	eul[3],
		const short	order
	)

Definition at line 700 of file math_rotation.c.

References eulO_to_quat(), and quat_to_axis_angle().

Referenced by BKE_rotMode_change_values(), object_clear_rot(), pchan_clear_rot(), pose_bone_do_paste(), and protectedAxisAngleBits().

void eulO_to_gimbal_axis	(	float	gmat[][3],
		const float	eul[3],
		const short	order
	)

Definition at line 1369 of file math_rotation.c.

References RotOrderInfo::axis, copy_v3_v3(), eulO_to_mat3(), GET_ROTATIONORDER_INFO, and R.

void eulO_to_mat3	(	float	M[3][3],
		const float	e[3],
		const short	order
	)

Definition at line 1209 of file math_rotation.c.

References RotOrderInfo::axis, cos(), GET_ROTATIONORDER_INFO, i, RotOrderInfo::parity, R, si, and sin().

Referenced by apply_targetless_ik(), ElementRotation(), Euler_rotate(), Euler_to_matrix(), eulO_to_gimbal_axis(), eulO_to_mat4(), joint_callback(), loc_eulO_size_to_mat4(), mathutils_any_to_rotmat(), object_rot_to_mat3(), pchan_to_mat4(), and rotate_eulO().

void eulO_to_mat4	(	float	M[4][4],
		const float	e[3],
		const short	order
	)

Definition at line 1276 of file math_rotation.c.

References copy_m4_m3(), eulO_to_mat3(), and normalize_m3().

Referenced by constraintob_from_transdata().

void eulO_to_quat	(	float	q[4],
		const float	e[3],
		const short	order
	)

Definition at line 1170 of file math_rotation.c.

References RotOrderInfo::axis, cos(), GET_ROTATIONORDER_INFO, i, RotOrderInfo::parity, R, si, and sin().

Referenced by BKE_rotMode_change_values(), Euler_to_quaternion(), eulO_to_axis_angle(), object_mat3_to_rot(), and pose_bone_do_paste().

float focallength_to_fov	(	float	focal_length,
		float	sensor
	)

Definition at line 1691 of file math_rotation.c.

References atanf.

Referenced by CamerasExporter::operator()(), and project_camera_info().

float fov_to_focallength	(	float	hfov,
		float	sensor
	)

Definition at line 1696 of file math_rotation.c.

References tanf.

Referenced by DocumentImporter::writeCamera().

void interp_qt_qtqt	(	float	result[4],
		const float	quat1[4],
		const float	quat2[4],
		const float	t
	)

Definition at line 547 of file math_rotation.c.

References acos(), and sin().

Referenced by bevel_list_smooth(), blend_m3_m3m3(), blend_m4_m4m4(), calc_curvepath(), collision_response(), do_particle_interpolation(), execute_posetree(), game_blend_poses(), pose_slide_apply_quat(), psys_get_birth_coordinates(), psys_get_particle_state(), ptcache_particle_interpolate(), Quaternion_slerp(), view3d_smoothview_invoke(), and where_on_path().

void invert_qt

(

float *

q

)

Definition at line 113 of file math_rotation.c.

References conjugate_qt(), dot_qtqt(), and mul_qt_fl().

void invert_qt_qt	(	float *	q1,
		const float *	q2
	)

Definition at line 124 of file math_rotation.c.

References copy_qt_qt(), and invert_qt().

int is_zero_qt

(

float *

q

)

Definition at line 64 of file math_rotation.c.

void mat3_to_axis_angle	(	float	axis[3],
		float *	angle,
		float	mat[3][3]
	)

Definition at line 751 of file math_rotation.c.

References mat3_to_quat(), and quat_to_axis_angle().

Referenced by apply_targetless_ik(), object_mat3_to_rot(), pchan_mat3_to_rot(), and pivotcon_evaluate().

void mat3_to_compatible_eul	(	float	eul[3],
		const float	oldrot[3],
		float	mat[][3]
	)

Definition at line 1110 of file math_rotation.c.

References compatible_eul(), copy_v3_v3(), fabs(), and mat3_to_eul2().

void mat3_to_compatible_eulO	(	float	eul[3],
		float	oldrot[3],
		short	order,
		float	mat[3][3]
	)

Definition at line 1315 of file math_rotation.c.

References compatible_eul(), copy_v3_v3(), fabsf, and mat3_to_eulo2().

Referenced by ElementRotation(), Euler_rotate(), mat4_to_compatible_eulO(), Matrix_to_euler(), object_mat3_to_rot(), pchan_mat3_to_rot(), and Quaternion_to_euler().

void mat3_to_eul	(	float *	eul,
		float	tmat[][3]
	)

Definition at line 973 of file math_rotation.c.

References copy_v3_v3(), fabs(), and mat3_to_eul2().

static void mat3_to_eul2	(	float	tmat[][3],
		float	eul1[3],
		float	eul2[3]
	)		[static]

Definition at line 942 of file math_rotation.c.

References KDL::atan2(), copy_m3_m3(), copy_v3_v3(), mat3_to_quat(), normalize_m3(), quat_to_mat3(), and sqrt().

Referenced by mat3_to_compatible_eul(), and mat3_to_eul().

void mat3_to_eulO	(	float	eul[3],
		const short	order,
		float	M[3][3]
	)

Definition at line 1288 of file math_rotation.c.

References copy_v3_v3(), fabs(), and mat3_to_eulo2().

Referenced by apply_targetless_ik(), mat4_to_eulO(), Matrix_to_euler(), object_mat3_to_rot(), pchan_mat3_to_rot(), quat_to_eulO(), and rotate_eulO().

static void mat3_to_eulo2	(	float	M[3][3],
		float *	e1,
		float *	e2,
		short	order
	)		[static]

Definition at line 1234 of file math_rotation.c.

References KDL::atan2(), RotOrderInfo::axis, copy_m3_m3(), copy_v3_v3(), GET_ROTATIONORDER_INFO, i, normalize_m3(), RotOrderInfo::parity, R, and sqrt().

Referenced by mat3_to_compatible_eulO(), and mat3_to_eulO().

void mat3_to_quat	(	float *	q,
		float	wmat[][3]
	)

Definition at line 253 of file math_rotation.c.

References copy_m3_m3(), normalize_m3(), normalize_qt(), sqrt(), and sqrtf.

void mat3_to_quat_is_ok	(	float	q[4],
		float	wmat[3][3]
	)

Definition at line 313 of file math_rotation.c.

References angle(), KDL::atan2(), co, copy_m3_m3(), cos(), invert_m3_m3(), mul_m3_v3(), mul_qt_qtqt(), normalize_m3(), normalize_v3(), quat_to_mat3_no_error(), saacos(), si, and sin().

Referenced by boid_body(), psys_cache_edit_paths(), psys_get_birth_coordinates(), and visualkey_get_value().

void mat4_to_axis_angle	(	float	axis[3],
		float *	angle,
		float	mat[4][4]
	)

Definition at line 762 of file math_rotation.c.

References mat4_to_quat(), and quat_to_axis_angle().

Referenced by constraintRotLim(), and visualkey_get_value().

void mat4_to_compatible_eulO	(	float	eul[3],
		float	oldrot[3],
		short	order,
		float	M[4][4]
	)

Definition at line 1335 of file math_rotation.c.

References copy_m3_m4(), mat3_to_compatible_eulO(), and normalize_m3().

Referenced by rotlike_evaluate().

void mat4_to_dquat	(	DualQuat *	dq,
		float	basemat[][4],
		float	mat[][4]
	)

Definition at line 1428 of file math_rotation.c.

References copy_m4_m4(), copy_v3_v3(), determinant_m4(), credits_svn_gen::e, invert_m4_m4(), len_v3(), mat4_to_quat(), mat4_to_size(), mul_serie_m4(), mult_m4_m4m4(), NULL, orthogonalize_m4(), DualQuat::quat, quat_to_mat4(), R, DualQuat::scale, DualQuat::scale_weight, and DualQuat::trans.

void mat4_to_eul	(	float *	eul,
		float	tmat[][4]
	)

Definition at line 989 of file math_rotation.c.

References copy_m3_m4(), mat3_to_eul(), and normalize_m3().

void mat4_to_eulO	(	float	e[3],
		const short	order,
		float	M[4][4]
	)

Definition at line 1304 of file math_rotation.c.

References copy_m3_m4(), mat3_to_eulO(), and normalize_m3().

Referenced by childof_evaluate(), constraintRotLim(), dvar_eval_transChan(), pivotcon_evaluate(), rotlike_evaluate(), rotlimit_evaluate(), transform_evaluate(), and visualkey_get_value().

void mat4_to_quat	(	float *	q,
		float	m[][4]
	)

Definition at line 305 of file math_rotation.c.

References copy_m3_m4(), and mat3_to_quat().

static float mod_inline	(	float	a,
		float	b
	)		[static]

Definition at line 1702 of file math_rotation.c.

References floorf.

Referenced by angle_wrap_deg(), and angle_wrap_rad().

void mul_fac_qt_fl	(	float *	q,
		const float	fac
	)

Definition at line 152 of file math_rotation.c.

References angle(), co, cos(), mul_v3_fl(), normalize_v3(), saacos(), si, and sin().

void mul_qt_fl	(	float *	q,
		const float	f
	)

Definition at line 131 of file math_rotation.c.

void mul_qt_qtqt	(	float *	q,
		const float *	q1,
		const float *	q2
	)

Definition at line 69 of file math_rotation.c.

void mul_qt_v3	(	const float *	q,
		float *	v
	)

Definition at line 83 of file math_rotation.c.

void mul_v3m3_dq	(	float *	co,
		float	mat[][3],
		DualQuat *	dq
	)

Definition at line 1563 of file math_rotation.c.

References copy_m3_m3(), copy_m3_m4(), dot_qtqt(), M, mul_m3_fl(), mul_m3_m3m3(), mul_m3_v3(), mul_m4_v3(), DualQuat::quat, DualQuat::scale, DualQuat::scale_weight, DualQuat::trans, and simple_enum_gen::w.

void normalize_dq	(	DualQuat *	dq,
		float	totweight
	)

Definition at line 1541 of file math_rotation.c.

References mul_m4_fl(), mul_qt_fl(), DualQuat::quat, DualQuat::scale, DualQuat::scale_weight, and DualQuat::trans.

Referenced by armature_deform_verts().

float normalize_qt

(

float *

q

)

Definition at line 357 of file math_rotation.c.

References dot_qtqt(), len(), mul_qt_fl(), and sqrt().

float normalize_qt_qt	(	float	r[4],
		const float	q[4]
	)

Definition at line 373 of file math_rotation.c.

References copy_qt_qt(), and normalize_qt().

Referenced by constraintob_from_transdata(), mathutils_any_to_rotmat(), new_particle_duplilist(), object_mat3_to_rot(), object_rot_to_mat3(), pchan_clear_rot(), pchan_to_mat4(), protectedQuaternionBits(), Quaternion_angle_get(), Quaternion_angle_set(), Quaternion_axis_vector_get(), Quaternion_axis_vector_set(), Quaternion_rotate(), Quaternion_to_axis_angle(), and Quaternion_to_euler().

void print_qt	(	const char *	str,
		const float	q[4]
	)

Definition at line 636 of file math_rotation.c.

void quat_apply_track	(	float	quat[4],
		short	axis,
		short	upflag
	)

Definition at line 1619 of file math_rotation.c.

References assert, and mul_qt_qtqt().

Referenced by calc_curve_deform(), followpath_get_tarmat(), and ob_parcurve().

void quat_to_axis_angle	(	float	axis[3],
		float *	angle,
		const float	q[4]
	)

Definition at line 663 of file math_rotation.c.

References acos(), dot_qtqt(), fabs(), fabsf, QUAT_EPSILON, si, and sin().

Referenced by BKE_rotMode_change_values(), do_view3d_region_buttons(), ElementRotation(), eulO_to_axis_angle(), mat3_to_axis_angle(), mat4_to_axis_angle(), pose_bone_do_paste(), Quaternion_angle_set(), Quaternion_axis_vector_get(), Quaternion_axis_vector_set(), and Quaternion_to_axis_angle().

void quat_to_eul	(	float *	eul,
		const float	quat[4]
	)

Definition at line 999 of file math_rotation.c.

References mat3_to_eul(), and quat_to_mat3().

void quat_to_eulO	(	float	e[3],
		short const	order,
		const float	q[4]
	)

Definition at line 1200 of file math_rotation.c.

References M, mat3_to_eulO(), and quat_to_mat3().

Referenced by axis_angle_to_eulO(), BKE_rotMode_change_values(), pose_bone_do_paste(), and Quaternion_to_euler().

void quat_to_mat3	(	float	m[][3],
		const float	q[4]
	)

Definition at line 197 of file math_rotation.c.

References dot_qtqt(), fabsf, QUAT_EPSILON, and quat_to_mat3_no_error().

static void quat_to_mat3_no_error	(	float	m[][3],
		const float	q[4]
	)		[static]

Definition at line 164 of file math_rotation.c.

References M_SQRT2.

Referenced by mat3_to_quat_is_ok(), and quat_to_mat3().

void quat_to_mat4	(	float	m[][4],
		const float	q[4]
	)

Definition at line 209 of file math_rotation.c.

References dot_qtqt(), fabsf, M_SQRT2, and QUAT_EPSILON.

void rotate_eul	(	float *	beul,
		const char	axis,
		const float	ang
	)

Definition at line 1024 of file math_rotation.c.

References assert, eul_to_mat3(), mat3_to_eul(), and mul_m3_m3m3().

void rotate_eulO	(	float	beul[3],
		short	order,
		char	axis,
		float	ang
	)

Definition at line 1346 of file math_rotation.c.

References assert, eulO_to_mat3(), mat3_to_eulO(), and mul_m3_m3m3().

Referenced by Euler_rotate_axis(), and rotlike_evaluate().

void rotation_between_quats_to_quat	(	float *	q,
		const float	q1[4],
		const float	q2[4]
	)

Definition at line 392 of file math_rotation.c.

References conjugate_qt(), copy_qt_qt(), dot(), dot_qtqt(), and mul_qt_qtqt().

void rotation_between_vecs_to_quat	(	float *	q,
		const float	v1[3],
		const float	v2[3]
	)

Definition at line 380 of file math_rotation.c.

References angle(), angle_normalized_v3v3(), axis_angle_to_quat(), and cross_v3_v3v3().

void single_axis_angle_to_mat3	(	float	mat[3][3],
		const char	axis,
		const float	angle
	)

Definition at line 774 of file math_rotation.c.

References assert, cosf, and sinf.

Referenced by C_Matrix_Rotation().

void sub_qt_qtqt	(	float	q[4],
		const float	q1[4],
		const float	q2[4]
	)

Definition at line 139 of file math_rotation.c.

References mul_qt_qtqt().

Referenced by explodeMesh(), pose_slide_apply_quat(), and set_crazy_vertex_quat().

void tri_to_quat	(	float	quat[4],
		const float	v1[3],
		const float	v2[3],
		const float	v3[3]
	)

Definition at line 592 of file math_rotation.c.

References angle(), KDL::atan2(), co, cos(), invert_m3_m3(), mul_m3_v3(), mul_qt_qtqt(), normal_tri_v3(), normalize_v3(), quat_to_mat3(), saacos(), si, sin(), and sub_v3_v3v3().

Referenced by face_duplilist(), make_bevel_list_3D_tangent(), ob_parvert3(), and set_crazy_vertex_quat().

void unit_axis_angle	(	float	axis[3],
		float *	angle
	)

Definition at line 41 of file math_rotation.c.

Referenced by add_only_object(), apply_armature_pose2bones_exec(), apply_objects_internal(), do_versions(), object_clear_rot(), pchan_clear_rot(), rest_pose(), and verify_pose_channel().

void unit_qt

(

float

q[4]

)

Definition at line 50 of file math_rotation.c.

Referenced by add_metaball_element(), add_only_object(), apply_armature_pose2bones_exec(), apply_objects_internal(), axis_angle_to_quat(), cache_key_incremental_rotation(), do_versions(), object_clear_rot(), offset_child(), pchan_clear_rot(), psys_get_birth_coordinates(), psys_thread_create_path(), Quaternion_CreatePyObject(), Quaternion_identity(), repositionBone(), rest_pose(), vec_rot_to_quat(), and verify_pose_channel().

void vec_apply_track	(	float	vec[3],
		short	axis
	)

Definition at line 1648 of file math_rotation.c.

References assert, and copy_v3_v3().

Referenced by calc_curve_deform().

void vec_rot_to_mat3	(	float	mat[][3],
		const float	vec[3],
		const float	phi
	)

Definition at line 822 of file math_rotation.c.

References co, cos(), si, and sin().

void vec_rot_to_mat4	(	float	mat[][4],
		const float	vec[3],
		const float	phi
	)

Definition at line 848 of file math_rotation.c.

References copy_m4_m3(), unit_m4(), and vec_rot_to_mat3().

void vec_rot_to_quat	(	float *	quat,
		const float	vec[3],
		const float	phi
	)

Definition at line 858 of file math_rotation.c.

References cos(), normalize_v3(), si, sin(), and unit_qt().

void vec_to_quat	(	float	q[4],
		const float	vec[3],
		short	axis,
		const short	upflag
	)

Definition at line 409 of file math_rotation.c.

References angle(), assert, KDL::atan2(), co, cos(), cosf, fabs(), mul_qt_qtqt(), normalize_v3(), quat_to_mat3(), saacos(), si, sin(), sinf, and sqrt().

Referenced by BKE_ptcache_make_particle_key(), calc_curve_deform(), followpath_get_tarmat(), make_bevel_list_3D_minimum_twist(), make_bevel_list_3D_zup(), make_bevel_list_segment_3D(), makeBevelList(), new_particle_duplilist(), ob_parcurve(), psys_get_birth_coordinates(), ptcache_particle_interpolate(), ptcache_particle_read(), Vector_to_track_quat(), and vertex_dupli__mapFunc().

---

Variable Documentation

RotOrderInfo rotOrders[] [static]

Initial value:

 {
    
    {{0, 1, 2}, 0}, 
    {{0, 2, 1}, 1}, 
    {{1, 0, 2}, 1}, 
    {{1, 2, 0}, 0}, 
    {{2, 0, 1}, 0}, 
    {{2, 1, 0}, 1}  
}

Definition at line 1153 of file math_rotation.c.