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improvement to axis/angle gimble conversion added last commit. fixed flipping problems and enabled for pose bones.

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This commit is contained in:
Campbell Barton
2010-11-01 11:50:15 +00:00
parent a55627339c
commit e40b4d80c6
1 changed files with 42 additions and 30 deletions
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72
source/blender/editors/transform/transform_manipulator.c
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@@ -156,6 +156,37 @@ static void stats_editbone(RegionView3D *rv3d, EditBone *ebo)
protectflag_to_drawflags(OB_LOCK_LOC|OB_LOCK_ROT|OB_LOCK_SCALE, &rv3d->twdrawflag); protectflag_to_drawflags(OB_LOCK_LOC|OB_LOCK_ROT|OB_LOCK_SCALE, &rv3d->twdrawflag);
} }
/* could move into BLI_math however this is only useful for display/editing purposes */
static void axis_angle_to_gimbal_axis(float gmat[3][3], float axis[3], float angle)
{
/* X/Y are arbitrary axies, most importantly Z is the axis of rotation */
float cross_vec[3];
float quat[4];
/* this is an un-scientific method to get a vector to cross with
* XYZ intentionally YZX */
cross_vec[0]= axis[1];
cross_vec[1]= axis[2];
cross_vec[2]= axis[0];
/* X-axis */
cross_v3_v3v3(gmat[0], cross_vec, axis);
normalize_v3(gmat[0]);
axis_angle_to_quat(quat, axis, angle);
mul_qt_v3(quat, gmat[0]);
/* Y-axis */
axis_angle_to_quat(quat, axis, M_PI/2.0);
copy_v3_v3(gmat[1], gmat[0]);
mul_qt_v3(quat, gmat[1]);
/* Z-axis */
copy_v3_v3(gmat[2], axis);
normalize_m3(gmat);
}
static int test_rotmode_euler(short rotmode) static int test_rotmode_euler(short rotmode)
{ {
@@ -169,10 +200,18 @@ int gimbal_axis(Object *ob, float gmat[][3])
{ {
bPoseChannel *pchan= get_active_posechannel(ob); bPoseChannel *pchan= get_active_posechannel(ob);
if(pchan && test_rotmode_euler(pchan->rotmode)) { if(pchan) {
float mat[3][3], tmat[3][3], obmat[3][3]; float mat[3][3], tmat[3][3], obmat[3][3];
if(test_rotmode_euler(pchan->rotmode)) {
eulO_to_gimbal_axis(mat, pchan->eul, pchan->rotmode); eulO_to_gimbal_axis(mat, pchan->eul, pchan->rotmode);
}
else if (pchan->rotmode == ROT_MODE_AXISANGLE) {
axis_angle_to_gimbal_axis(mat, pchan->rotAxis, pchan->rotAngle);
}
else { /* quat */
return 0;
}
/* apply bone transformation */ /* apply bone transformation */
mul_m3_m3m3(tmat, pchan->bone->bone_mat, mat); mul_m3_m3m3(tmat, pchan->bone->bone_mat, mat);
@@ -204,34 +243,7 @@ int gimbal_axis(Object *ob, float gmat[][3])
eulO_to_gimbal_axis(gmat, ob->rot, ob->rotmode); eulO_to_gimbal_axis(gmat, ob->rot, ob->rotmode);
} }
else if(ob->rotmode == ROT_MODE_AXISANGLE) { else if(ob->rotmode == ROT_MODE_AXISANGLE) {
/* X/Y are arbitrary axies, most importantly Z is the axis of rotation axis_angle_to_gimbal_axis(gmat, ob->rotAxis, ob->rotAngle);
* there is also an axis flipping problem if the rotation axis points
* exactly on Z and Y value is modified. */
float cross_vec[3]= {0};
float quat[4];
if(ob->rotAxis[0] || ob->rotAxis[1]) {
cross_vec[2]= 1.0f;
}
else {
cross_vec[0]= 1.0f; /* could be X or Y */
}
/* X-axis */
cross_v3_v3v3(gmat[0], cross_vec, ob->rotAxis);
normalize_v3(gmat[0]);
axis_angle_to_quat(quat, ob->rotAxis, ob->rotAngle);
mul_qt_v3(quat, gmat[0]);
/* Y-axis */
axis_angle_to_quat(quat, ob->rotAxis, M_PI/2.0);
copy_v3_v3(gmat[1], gmat[0]);
mul_qt_v3(quat, gmat[1]);
/* Z-axis */
copy_v3_v3(gmat[2], ob->rotAxis);
normalize_m3(gmat);
} }
else { /* quat */ else { /* quat */
return 0; return 0;