c1bc70b711
A lot of files were missing copyright field in the header and
the Blender Foundation contributed to them in a sense of bug
fixing and general maintenance.
This change makes it explicit that those files are at least
partially copyrighted by the Blender Foundation.
Note that this does not make it so the Blender Foundation is
the only holder of the copyright in those files, and developers
who do not have a signed contract with the foundation still
hold the copyright as well.
Another aspect of this change is using SPDX format for the
header. We already used it for the license specification,
and now we state it for the copyright as well, following the
FAQ:
https://reuse.software/faq/
117 lines
3.0 KiB
C++
117 lines
3.0 KiB
C++
/* SPDX-FileCopyrightText: 2023 Blender Foundation
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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_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 Constructors
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* \{ */
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template<typename T, typename AngleT>
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AxisAngleBase<T, AngleT>::AxisAngleBase(const VecBase<T, 3> &axis, const AngleT &angle)
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{
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BLI_assert(is_unit_scale(axis));
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axis_ = axis;
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angle_ = angle;
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}
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template<typename T, typename AngleT>
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AxisAngleBase<T, AngleT>::AxisAngleBase(const AxisSigned axis, const AngleT &angle)
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{
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axis_ = to_vector<VecBase<T, 3>>(axis);
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angle_ = angle;
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}
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template<typename T, typename AngleT>
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AxisAngleBase<T, AngleT>::AxisAngleBase(const VecBase<T, 3> &from, const VecBase<T, 3> &to)
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{
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BLI_assert(is_unit_scale(from));
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BLI_assert(is_unit_scale(to));
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T sin;
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T cos = dot(from, to);
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axis_ = normalize_and_get_length(cross(from, to), sin);
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if (sin <= FLT_EPSILON) {
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if (cos > T(0)) {
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/* Same vectors, zero rotation... */
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*this = identity();
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return;
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}
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/* Colinear but opposed vectors, 180 rotation... */
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axis_ = normalize(orthogonal(from));
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sin = T(0);
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cos = T(-1);
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}
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/* Avoid calculating the angle if possible. */
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angle_ = AngleT(cos, sin);
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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, typename AngleT>
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QuaternionBase<T> to_quaternion(const AxisAngleBase<T, AngleT> &axis_angle)
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{
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BLI_assert(math::is_unit_scale(axis_angle.axis()));
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AngleT half_angle = axis_angle.angle() / 2;
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T hs = math::sin(half_angle);
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T hc = math::cos(half_angle);
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VecBase<T, 3> xyz = axis_angle.axis() * hs;
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return QuaternionBase<T>(hc, xyz.x, xyz.y, xyz.z);
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}
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/** \} */
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/* -------------------------------------------------------------------- */
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/** \name Conversion to Euler
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* \{ */
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template<typename T, typename AngleT>
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Euler3Base<T> to_euler(const AxisAngleBase<T, AngleT> &axis_angle, EulerOrder order)
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{
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/* Use quaternions as intermediate representation for now... */
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return to_euler(to_quaternion(axis_angle), order);
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}
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template<typename T, typename AngleT>
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EulerXYZBase<T> to_euler(const AxisAngleBase<T, AngleT> &axis_angle)
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{
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/* Check easy and exact conversions first. */
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const VecBase<T, 3> axis = axis_angle.axis();
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if (axis.x == T(1)) {
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return EulerXYZBase<T>(T(axis_angle.angle()), T(0), T(0));
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}
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else if (axis.y == T(1)) {
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return EulerXYZBase<T>(T(0), T(axis_angle.angle()), T(0));
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}
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else if (axis.z == T(1)) {
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return EulerXYZBase<T>(T(0), T(0), T(axis_angle.angle()));
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}
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/* Use quaternions as intermediate representation for now... */
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return to_euler(to_quaternion(axis_angle));
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}
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/** \} */
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} // namespace blender::math
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