e955c94ed3
Listing the "Blender Foundation" as copyright holder implied the Blender Foundation holds copyright to files which may include work from many developers. While keeping copyright on headers makes sense for isolated libraries, Blender's own code may be refactored or moved between files in a way that makes the per file copyright holders less meaningful. Copyright references to the "Blender Foundation" have been replaced with "Blender Authors", with the exception of `./extern/` since these this contains libraries which are more isolated, any changed to license headers there can be handled on a case-by-case basis. Some directories in `./intern/` have also been excluded: - `./intern/cycles/` it's own `AUTHORS` file is planned. - `./intern/opensubdiv/`. An "AUTHORS" file has been added, using the chromium projects authors file as a template. Design task: #110784 Ref !110783.
115 lines
3.4 KiB
C++
115 lines
3.4 KiB
C++
/* SPDX-FileCopyrightText: 2023 Blender Authors
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*
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* SPDX-License-Identifier: GPL-2.0-or-later */
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#pragma once
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/** \file
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* \ingroup bli
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*/
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#include "BLI_math_axis_angle_types.hh"
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#include "BLI_math_euler_types.hh"
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#include "BLI_math_quaternion_types.hh"
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#include "BLI_math_axis_angle.hh"
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#include "BLI_math_matrix.hh"
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#include "BLI_math_quaternion.hh"
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namespace blender::math {
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/* -------------------------------------------------------------------- */
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/** \name EulerXYZ
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* \{ */
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template<typename T> EulerXYZBase<T> EulerXYZBase<T>::wrapped() const
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{
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EulerXYZBase<T> result(*this);
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result.x() = AngleRadianBase<T>(result.x()).wrapped().radian();
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result.y() = AngleRadianBase<T>(result.y()).wrapped().radian();
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result.z() = AngleRadianBase<T>(result.z()).wrapped().radian();
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return result;
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}
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template<typename T>
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EulerXYZBase<T> EulerXYZBase<T>::wrapped_around(const EulerXYZBase &reference) const
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{
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EulerXYZBase<T> result(*this);
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result.x() = AngleRadianBase<T>(result.x()).wrapped_around(reference.x()).radian();
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result.y() = AngleRadianBase<T>(result.y()).wrapped_around(reference.y()).radian();
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result.z() = AngleRadianBase<T>(result.z()).wrapped_around(reference.z()).radian();
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return result;
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}
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/** \} */
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/* -------------------------------------------------------------------- */
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/** \name Conversion to Quaternions
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* \{ */
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template<typename T> QuaternionBase<T> to_quaternion(const EulerXYZBase<T> &eul)
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{
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using AngleT = typename EulerXYZBase<T>::AngleT;
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const AngleT h_angle_i = eul.x() / 2;
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const AngleT h_angle_j = eul.y() / 2;
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const AngleT h_angle_k = eul.z() / 2;
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const T cos_i = math::cos(h_angle_i);
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const T cos_j = math::cos(h_angle_j);
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const T cos_k = math::cos(h_angle_k);
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const T sin_i = math::sin(h_angle_i);
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const T sin_j = math::sin(h_angle_j);
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const T sin_k = math::sin(h_angle_k);
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const T cos_cos = cos_i * cos_k;
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const T cos_sin = cos_i * sin_k;
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const T sin_cos = sin_i * cos_k;
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const T sin_sin = sin_i * sin_k;
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QuaternionBase<T> quat;
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quat.w = cos_j * cos_cos + sin_j * sin_sin;
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quat.x = cos_j * sin_cos - sin_j * cos_sin;
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quat.y = cos_j * sin_sin + sin_j * cos_cos;
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quat.z = cos_j * cos_sin - sin_j * sin_cos;
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return quat;
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}
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template<typename T> QuaternionBase<T> to_quaternion(const Euler3Base<T> &eulO)
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{
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/* Swizzle to XYZ. */
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EulerXYZBase<T> eul_xyz{eulO.ijk()};
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/* Flip with parity. */
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eul_xyz.y() = eulO.parity() ? -eul_xyz.y() : eul_xyz.y();
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/* Quaternion conversion. */
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QuaternionBase<T> quat = to_quaternion(eul_xyz);
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/* Swizzle back from XYZ. */
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VecBase<T, 3> quat_xyz;
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quat_xyz[eulO.i_index()] = quat.x;
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quat_xyz[eulO.j_index()] = eulO.parity() ? -quat.y : quat.y;
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quat_xyz[eulO.k_index()] = quat.z;
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return {quat.w, UNPACK3(quat_xyz)};
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}
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/** \} */
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/* -------------------------------------------------------------------- */
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/** \name Conversion to axis angles
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* \{ */
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template<typename T, typename AngleT = AngleRadian>
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AxisAngleBase<T, AngleT> to_axis_angle(const EulerXYZBase<T> &euler)
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{
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/* Use quaternions as intermediate representation for now... */
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return to_axis_angle<T, AngleT>(to_quaternion(euler));
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}
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template<typename T, typename AngleT = AngleRadian>
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AxisAngleBase<T, AngleT> to_axis_angle(const Euler3Base<T> &euler)
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{
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/* Use quaternions as intermediate representation for now... */
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return to_axis_angle<T, AngleT>(to_quaternion(euler));
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}
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/** \} */
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} // namespace blender::math
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