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Rotation Math:

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Replaced a few function calls with inlined code for nicer performance.
This commit is contained in:
Joshua Leung
2009-09-12 10:21:55 +00:00
parent 83074d0b37
commit 3a9d99e3e8
1 changed files with 37 additions and 15 deletions
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52
source/blender/blenlib/intern/arithb.c
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@@ -3338,44 +3338,66 @@ void EulOToAxisAngle(float eul[3], short order, float axis[3], float *angle)
/* axis angle to 3x3 matrix - safer version (normalisation of axis performed) */
void AxisAngleToMat3(float axis[3], float angle, float mat[3][3])
{
float nor[3];
float nor[3], nsi[3], co, si, ico;
/* normalise the axis first (to remove unwanted scaling) */
VecCopyf(nor, axis);
Normalize(nor);
/* now convert this to a 3x3 matrix */
VecRotToMat3(nor, angle, mat);
co= (float)cos(angle);
si= (float)sin(angle);
ico= (1.0f - co);
nsi[0]= nor[0]*si;
nsi[1]= nor[1]*si;
nsi[2]= nor[2]*si;
mat[0][0] = ((nor[0] * nor[0]) * ico) + co;
mat[0][1] = ((nor[0] * nor[1]) * ico) + nsi[2];
mat[0][2] = ((nor[0] * nor[2]) * ico) - nsi[1];
mat[1][0] = ((nor[0] * nor[1]) * ico) - nsi[2];
mat[1][1] = ((nor[1] * nor[1]) * ico) + co;
mat[1][2] = ((nor[1] * nor[2]) * ico) + nsi[0];
mat[2][0] = ((nor[0] * nor[2]) * ico) + nsi[1];
mat[2][1] = ((nor[1] * nor[2]) * ico) - nsi[0];
mat[2][2] = ((nor[2] * nor[2]) * ico) + co;
}
/* axis angle to 4x4 matrix - safer version (normalisation of axis performed) */
void AxisAngleToMat4(float axis[3], float angle, float mat[4][4])
{
float nor[3];
float tmat[3][3];
/* normalise the axis first (to remove unwanted scaling) */
VecCopyf(nor, axis);
Normalize(nor);
/* now convert this to a 4x4 matrix */
VecRotToMat4(nor, angle, mat);
AxisAngleToMat3(axis, angle, mat);
Mat4One(mat);
Mat4CpyMat3(mat, tmat);
}
/* 3x3 matrix to axis angle (alias around the other call) */
/* 3x3 matrix to axis angle (see Mat4ToVecRot too) */
void Mat3ToAxisAngle(float mat[3][3], float axis[3], float *angle)
{
/* note different order of calling args... */
Mat3ToVecRot(axis, angle, mat);
float q[4];
/* use quaternions as intermediate representation */
// TODO: it would be nicer to go straight there...
Mat3ToQuat(mat, q);
QuatToAxisAngle(q, axis, angle);
}
/* 4x4 matrix to axis angle (alias around the other call) */
/* 4x4 matrix to axis angle (see Mat4ToVecRot too) */
void Mat4ToAxisAngle(float mat[4][4], float axis[3], float *angle)
{
/* note different order of calling args... */
Mat4ToVecRot(axis, angle, mat);
float q[4];
/* use quaternions as intermediate representation */
// TODO: it would be nicer to go straight there...
Mat4ToQuat(mat, q);
QuatToAxisAngle(q, axis, angle);
}
/* ************ AXIS ANGLE (unchecked) *************** */
// TODO: the following calls should probably be depreceated sometime
/* 3x3 matrix to axis angle */
void Mat3ToVecRot(float mat[3][3], float axis[3], float *angle)