#include "BLI_math_rotation.h"
#include "BLI_math_base_safe.h"
#include "BLI_math_geom.h"
#include "BLI_math_matrix.h"
#include "BLI_math_vector.h"
#include "BLI_strict_flags.h"

Classes
struct	RotOrderInfo

Macros
#define	QUAT_EPSILON 0.0001

#define	EULER_HYPOT_EPSILON 0.0000375

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 q[4], const float a[4])

bool	is_zero_qt (const float q[4])

void	mul_qt_qtqt (float q[4], const float a[4], const float b[4])

void	mul_qt_v3 (const float q[4], float r[3])

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

void	conjugate_qt (float q[4])

float	dot_qtqt (const float a[4], const float b[4])

void	invert_qt (float q[4])

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

void	invert_qt_normalized (float q[4])

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

void	mul_qt_fl (float q[4], const float f)

void	sub_qt_qtqt (float q[4], const float a[4], const float b[4])

void	pow_qt_fl_normalized (float q[4], const float fac)

void	quat_to_compatible_quat (float q[4], const float a[4], const float old[4])

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

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

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

void	mat3_normalized_to_quat_fast (float q[4], const float mat[3][3])

static void	mat3_normalized_to_quat_with_checks (float q[4], float mat[3][3])

void	mat3_normalized_to_quat (float q[4], const float mat[3][3])

void	mat3_to_quat (float q[4], const float mat[3][3])

void	mat4_normalized_to_quat (float q[4], const float mat[4][4])

void	mat4_to_quat (float q[4], const float mat[4][4])

void	mat3_to_quat_legacy (float q[4], const float wmat[3][3])

float	normalize_qt (float q[4])

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

void	rotation_between_vecs_to_mat3 (float m[3][3], const float v1[3], const float v2[3])

void	rotation_between_vecs_to_quat (float q[4], const float v1[3], const float v2[3])

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

float	quat_split_swing_and_twist (const float q_in[4], const int axis, float r_swing[4], float r_twist[4])

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

void	interp_dot_slerp (const float t, const float cosom, float r_w[2])

void	interp_qt_qtqt (float q[4], const float a[4], const float b[4], const float t)

void	add_qt_qtqt (float q[4], const float a[4], const float b[4], const float t)

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

float	tri_to_quat (float q[4], const float a[3], const float b[3], const float c[3])

void	sin_cos_from_fraction (int numerator, int denominator, float r_sin, float r_cos)

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

void	axis_angle_normalized_to_quat (float r[4], const float axis[3], const float angle)

void	axis_angle_to_quat (float r[4], const float axis[3], const 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_normalized_to_mat3_ex (float mat[3][3], const float axis[3], const float angle_sin, const float angle_cos)

void	axis_angle_normalized_to_mat3 (float R[3][3], const float axis[3], const float angle)

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

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

void	mat3_normalized_to_axis_angle (float axis[3], float *angle, const float mat[3][3])

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

void	mat4_normalized_to_axis_angle (float axis[3], float *angle, const float mat[4][4])

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

void	axis_angle_to_mat4_single (float R[4][4], const char axis, const float angle)

void	axis_angle_to_mat3_single (float R[3][3], const char axis, const float angle)

void	angle_to_mat2 (float R[2][2], const float angle)

void	axis_angle_to_quat_single (float q[4], const char axis, const float angle)

void	quat_normalized_to_expmap (float expmap[3], const float q[4])

void	quat_to_expmap (float expmap[3], const float q[4])

void	expmap_to_quat (float r[4], const float expmap[3])

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

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

static void	mat3_normalized_to_eul2 (const float mat[3][3], float eul1[3], float eul2[3])

void	mat3_normalized_to_eul (float eul[3], const float mat[3][3])

void	mat3_to_eul (float eul[3], const float mat[3][3])

void	mat4_normalized_to_eul (float eul[3], const float m[4][4])

void	mat4_to_eul (float eul[3], const float mat[4][4])

void	quat_to_eul (float eul[3], const float quat[4])

void	eul_to_quat (float quat[4], const float eul[3])

void	rotate_eul (float beul[3], const char axis, const float angle)

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

void	mat3_normalized_to_compatible_eul (float eul[3], const float oldrot[3], float mat[3][3])

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

void	quat_to_compatible_eul (float eul[3], const float oldrot[3], const float quat[4])

static const RotOrderInfo *	get_rotation_order_info (const short order)

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_normalized_to_eulo2 (const float mat[3][3], float eul1[3], float eul2[3], const short order)

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

void	mat3_normalized_to_eulO (float eul[3], const short order, const float m[3][3])

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

void	mat4_normalized_to_eulO (float eul[3], const short order, const float m[4][4])

void	mat4_to_eulO (float eul[3], const short order, const float m[4][4])

void	mat3_normalized_to_compatible_eulO (float eul[3], const float oldrot[3], const short order, const float mat[3][3])

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

void	mat4_normalized_to_compatible_eulO (float eul[3], const float oldrot[3], const short order, const float mat[4][4])

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

void	quat_to_compatible_eulO (float eul[3], const float oldrot[3], const short order, const float quat[4])

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

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

void	add_eul_euleul (float r_eul[3], float a[3], float b[3], const short order)

void	sub_eul_euleul (float r_eul[3], float a[3], float b[3], const short order)

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

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

void	add_weighted_dq_dq (DualQuat dq_sum, const DualQuat dq, float weight)

void	add_weighted_dq_dq_pivot (DualQuat dq_sum, const DualQuat dq, const float pivot[3], const float weight, const bool compute_scale_matrix)

void	normalize_dq (DualQuat *dq, float totweight)

void	mul_v3m3_dq (float r[3], float R[3][3], DualQuat *dq)

void	copy_dq_dq (DualQuat r, const DualQuat dq)

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)

float	angle_compat_rad (float angle, float angle_compat)

BLI_INLINE int	_axis_signed (const int axis)

bool	mat3_from_axis_conversion (int src_forward, int src_up, int dst_forward, int dst_up, float r_mat[3][3])

bool	mat3_from_axis_conversion_single (int src_axis, int dst_axis, float r_mat[3][3])

Quaternion Angle
Unlike the angle between vectors, this does NOT return the shortest angle. See signed functions below for this.
float	angle_normalized_qt (const float q[4])

float	angle_qt (const float q[4])

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

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

Quaternion Angle (Signed)
Angles with quaternion calculation can exceed 180d, Having signed versions of these functions allows 'fabsf(angle_signed_qtqt(...))' to give us the shortest angle between quaternions. With higher precision than subtracting pi afterwards.
float	angle_signed_normalized_qt (const float q[4])

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

float	angle_signed_qt (const float q[4])

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

Variables
static const RotOrderInfo	rotOrders []

static float	_axis_convert_matrix [23][3][3]

static int	_axis_convert_lut [23][24]

Macro Definition Documentation

◆ EULER_HYPOT_EPSILON

#define EULER_HYPOT_EPSILON 0.0000375

The threshold for using a zeroed 3rd (typically Z) value when calculating the euler. NOTE(@ideasman42): A reasonable range for this value is (0.0002 .. 0.00002). This was previously 16 * FLT_EPSILON however it caused imprecision at times, see examples from: #116880.

Definition at line 31 of file math_rotation.c.

Referenced by mat3_normalized_to_eul2(), and mat3_normalized_to_eulo2().

◆ QUAT_EPSILON

#define QUAT_EPSILON 0.0001

Definition at line 22 of file math_rotation.c.

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

Typedef Documentation

◆ RotOrderInfo

typedef struct RotOrderInfo RotOrderInfo

Function Documentation

◆ _axis_signed()

BLI_INLINE int _axis_signed ( const int axis )

Definition at line 2419 of file math_rotation.c.

Referenced by mat3_from_axis_conversion().

◆ add_eul_euleul()

void add_eul_euleul	(	float	r_eul[3],
		float	a[3],
		float	b[3],
		const short	order )

Definition at line 1933 of file math_rotation.c.

References b, eulO_to_quat(), mul_qt_qtqt(), and quat_to_eulO().

Referenced by ElementRotation_ex().

◆ add_qt_qtqt()

void add_qt_qtqt	(	float	q[4],
		const float	a[4],
		const float	b[4],
		const float	t )

Definition at line 916 of file math_rotation.c.

References b.

Referenced by Quaternion_add().

◆ add_weighted_dq_dq()

void add_weighted_dq_dq	(	DualQuat *	dq_sum,
		const DualQuat *	dq,
		float	weight )

Definition at line 2061 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 add_weighted_dq_dq_pivot().

◆ add_weighted_dq_dq_pivot()

void add_weighted_dq_dq_pivot	(	DualQuat *	dq_sum,
		const DualQuat *	dq,
		const float	pivot[3],
		const float	weight,
		const bool	compute_scale_matrix )

Add the transformation defined by the given dual quaternion to the accumulator, using the specified pivot point for combining scale transformations.

If the resulting dual quaternion would only be used to transform the pivot point itself, this function can avoid fully computing the combined scale matrix to get a performance boost without affecting the result.

Definition at line 2108 of file math_rotation.c.

References add_weighted_dq_dq(), mul_v3_m4v3(), DualQuat::quat, DualQuat::scale, DualQuat::scale_weight, sub_v3_v3(), and DualQuat::trans.

Referenced by armdef_accumulate_matrix(), and pchan_deform_accumulate().

◆ angle_compat_rad()

float angle_compat_rad	(	float	angle,
		float	angle_compat )

Returns an angle compatible with angle_compat.

Definition at line 2336 of file math_rotation.c.

References angle_wrap_rad().

Referenced by gizmo_bisect_prop_angle_set(), gizmo_spin_prop_axis_angle_set(), and recalcData_edit_armature().

◆ angle_normalized_qt()

float angle_normalized_qt ( const float q[4] )

Definition at line 620 of file math_rotation.c.

References BLI_ASSERT_UNIT_QUAT, and safe_acosf().

Referenced by angle_normalized_qtqt(), angle_qt(), and ED_view3d_cursor3d_position_rotation().

◆ angle_normalized_qtqt()

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

Definition at line 635 of file math_rotation.c.

References angle_normalized_qt(), BLI_ASSERT_UNIT_QUAT, q1, and rotation_between_quats_to_quat().

Referenced by angle_qtqt(), and angle_signed_normalized_qtqt().

◆ angle_qt()

float angle_qt ( const float q[4] )

Definition at line 626 of file math_rotation.c.

References angle_normalized_qt(), and normalize_qt_qt().

◆ angle_qtqt()

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

Definition at line 647 of file math_rotation.c.

References angle_normalized_qtqt(), normalize_qt_qt(), and q1.

Referenced by angle_signed_qtqt().

◆ angle_signed_normalized_qt()

float angle_signed_normalized_qt ( const float q[4] )

Definition at line 669 of file math_rotation.c.

References BLI_ASSERT_UNIT_QUAT, and safe_acosf().

Referenced by angle_signed_qt().

◆ angle_signed_normalized_qtqt()

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

Definition at line 679 of file math_rotation.c.

References angle_normalized_qtqt(), dot_qtqt(), negate_v4_v4(), and q1.

Referenced by ED_view3d_smooth_view_ex().

◆ angle_signed_qt()

float angle_signed_qt ( const float q[4] )

Definition at line 690 of file math_rotation.c.

References angle_signed_normalized_qt(), and normalize_qt_qt().

◆ angle_signed_qtqt()

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

Definition at line 699 of file math_rotation.c.

References angle_qtqt(), dot_qtqt(), negate_v4_v4(), and q1.

Referenced by ED_view3d_quat_to_axis_view(), and view_axis_exec().

◆ angle_to_mat2()

void angle_to_mat2	(	float	R[2][2],
		const float	angle )

Definition at line 1277 of file math_rotation.c.

References cosf, R, and sinf.

Referenced by C_Matrix_Rotation(), compensate_rotation_center(), edit_text_cache_populate_select(), init_track_for_stabilization(), blender::geometry::p_chart_rotate_fit_aabb(), snap_v2_angle(), and stitch_calculate_island_snapping().

◆ angle_wrap_deg()

float angle_wrap_deg ( float angle )

Definition at line 2331 of file math_rotation.c.

References mod_inline().

◆ angle_wrap_rad()

float angle_wrap_rad ( float angle )

Definition at line 2326 of file math_rotation.c.

References float, M_PI, and mod_inline().

Referenced by angle_compat_rad(), C_Matrix_Rotation(), dial_ghostarc_get_angles(), expmap_to_quat(), Quaternion_angle_set(), Quaternion_new(), updateDuplicateKinematicConstraintSettings(), and viewrotate_apply().

◆ axis_angle_normalized_to_mat3()

void axis_angle_normalized_to_mat3	(	float	R[3][3],
		const float	axis[3],
		const float	angle )

◆ axis_angle_normalized_to_mat3_ex()

void axis_angle_normalized_to_mat3_ex	(	float	mat[3][3],
		const float	axis[3],
		float	angle_sin,
		float	angle_cos )

axis angle to 3x3 matrix

This takes the angle with sin/cos applied so we can avoid calculating it in some cases.

Parameters

axis	rotation axis (must be normalized).
angle_sin	sin(angle)
angle_cos	cos(angle)

Definition at line 1124 of file math_rotation.c.

References BLI_ASSERT_UNIT_V3.

Referenced by axis_angle_normalized_to_mat3(), and rotation_between_vecs_to_mat3().

◆ axis_angle_normalized_to_quat()

void axis_angle_normalized_to_quat	(	float	r[4],
		const float	axis[3],
		const float	angle )

Definition at line 1051 of file math_rotation.c.

References angle(), BLI_ASSERT_UNIT_V3, cosf, mul_v3_v3fl(), and sinf.

Referenced by axis_angle_to_quat(), expmap_to_quat(), flip_qt_qt(), rotation_between_vecs_to_quat(), blender::ed::sculpt_paint::pose::solve_roll_chain(), vec_to_quat(), and view_roll_angle().

◆ axis_angle_to_eulO()

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

Axis Angle to Euler Rotation.

Definition at line 1106 of file math_rotation.c.

References axis_angle_to_quat(), and quat_to_eulO().

Referenced by BKE_rotMode_change_values(), blender::ed::object::object_clear_rot(), pchan_clear_rot(), pose_bone_do_paste(), and protectedAxisAngleBits().

◆ axis_angle_to_mat3()

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

Axis angle to 3x3 matrix - safer version (normalization of axis performed).

Definition at line 1164 of file math_rotation.c.

References axis_angle_normalized_to_mat3(), nor, normalize_v3_v3(), R, and unit_m3().

Referenced by blender::nodes::node_fn_align_euler_to_vector_cc::align_rotations_auto_pivot(), blender::nodes::node_fn_align_euler_to_vector_cc::align_rotations_fixed_pivot(), axis_angle_to_mat4(), BKE_object_rot_to_mat3(), BKE_pchan_rot_to_mat3(), bmo_create_uvsphere_exec(), C_Matrix_Rotation(), ed_editnurb_spin(), ED_view3d_cursor3d_update(), edbm_dupli_extrude_cursor_invoke(), blender::nodes::node_fn_rotate_euler_cc::get_multi_function(), gizmo_mesh_spin_init_refresh(), joint_callback(), blender::nodes::node_geo_curve_primitive_arc_cc::rotate_vector_around_axis(), blender::nodes::node_shader_vector_rotate_cc::sh_node_vector_rotate_around_axis(), splineik_evaluate_bone(), transform_data_ext_rotate(), and View3DCursor::matrix< blender::float3x3 >().

◆ axis_angle_to_mat3_single()

void axis_angle_to_mat3_single	(	float	R[3][3],
		char	axis,
		float	angle )

Create a 3x3 rotation matrix from a single axis.

Definition at line 1232 of file math_rotation.c.

References BLI_assert_unreachable, cosf, R, and sinf.

Referenced by axis_angle_to_mat4_single(), C_Matrix_Rotation(), calc_overlap(), gizmo2d_xform_invoke_prepare(), modify_mesh(), seq_image_transform_quad_get_ex(), SeqToTransData(), sequencer_image_crop_transform_matrix(), and transform_orientation_matrix_get().

◆ axis_angle_to_mat4()

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

Axis angle to 4x4 matrix - safer version (normalization of axis performed).

Definition at line 1177 of file math_rotation.c.

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

Referenced by constraintob_from_transdata(), TransformReader::dae_rotate_to_mat4(), AnimationImporter::evaluate_animation(), and GPU_matrix_rotate_3fv().

◆ axis_angle_to_mat4_single()

void axis_angle_to_mat4_single	(	float	R[4][4],
		char	axis,
		float	angle )

Create a 4x4 rotation matrix from a single axis.

Definition at line 1225 of file math_rotation.c.

References axis_angle_to_mat3_single(), copy_m4_m3(), and R.

Referenced by blender::io::alembic::ABCTransformWriter::do_write(), blender::workbench::get_world_shading_rotation_matrix(), image_camera_background_matrix_get(), lookat_m4(), make_duplis_font(), blender::ed::object::object_warp_calc_view_matrix(), blender::io::alembic::AbcObjectReader::read_matrix(), blender::io::alembic::AbcObjectReader::setupObjectTransform(), and UnitConverter::UnitConverter().

◆ axis_angle_to_quat()

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

Definition at line 1061 of file math_rotation.c.

References axis_angle_normalized_to_quat(), LIKELY, nor, normalize_v3_v3(), and unit_qt().

Referenced by axis_angle_to_eulO(), axis_angle_to_gimbal_axis(), basic_rotate(), bevel_list_apply_tilt(), bevel_list_smooth(), BKE_object_mat3_to_rot(), BKE_rotMode_change_values(), bm_edgering_pair_interpolate(), boid_body(), cache_key_incremental_rotation(), TransformReader::dae_rotate_to_mat4(), do_guides(), do_kink(), ElementRotation_ex(), flyApply(), gizmo_ruler_draw(), knifetool_draw_angle(), loc_axisangle_size_to_mat4(), make_bevel_list_3D_minimum_twist(), make_bevel_list_segment_3D(), minimum_twist_between_two_points(), modify_mesh(), pose_bone_do_paste(), psys_get_birth_coords(), psys_get_dupli_path_transform(), Quaternion_angle_set(), Quaternion_axis_vector_set(), Quaternion_new(), rotation_between_vecs_to_quat(), blender::ed::object::rotation_from_quat(), view_axis_exec(), vieworbit_exec(), viewrotate_apply(), viewrotate_apply_snap(), and walkApply().

◆ axis_angle_to_quat_single()

void axis_angle_to_quat_single	(	float	q[4],
		const char	axis,
		const float	angle )

Definition at line 1289 of file math_rotation.c.

References BLI_assert, cosf, sinf, and zero_v3().

Referenced by vieworbit_exec(), viewrotate_apply(), walkApply(), wm_xr_basenav_rotation_calc(), and wm_xr_session_base_pose_calc().

◆ compatible_eul()

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

Manipulate eul so it's close to oldrot while representing the same rotation with the aim of having the minimum difference between all axes.

This is typically done so interpolating the values between two euler rotations doesn't add undesired rotation (even rotating multiple times around one axis).

Definition at line 1514 of file math_rotation.c.

References fabsf, float, floorf, M_PI, and M_PI_2.

Referenced by dvar_eval_transChan(), Euler_make_compatible(), mat3_normalized_to_compatible_eul(), mat3_normalized_to_compatible_eulO(), and rotlike_evaluate().

◆ conjugate_qt()

void conjugate_qt ( float q[4] )

Definition at line 99 of file math_rotation.c.

Referenced by invert_qt(), invert_qt_normalized(), and Quaternion_conjugate().

◆ conjugate_qt_qt()

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

Definition at line 91 of file math_rotation.c.

References q1.

Referenced by rotation_between_quats_to_quat().

◆ copy_dq_dq()

void copy_dq_dq	(	DualQuat *	r,
		const DualQuat *	dq )

Definition at line 2225 of file math_rotation.c.

◆ copy_qt_qt()

void copy_qt_qt	(	float	q[4],
		const float	a[4] )

Definition at line 47 of file math_rotation.c.

Referenced by add_pose_transdata(), bevel_list_smooth(), BKE_object_tfm_backup(), BKE_object_tfm_restore(), BKE_pose_copy_pchan_result(), BKE_screen_view3d_do_versions_250(), BKE_where_on_path(), blo_update_defaults_screen(), bm_edgering_pair_interpolate(), boid_body(), calc_curve_deform(), createTransCursor_view3d(), createTransMBallVerts(), createTransSculpt(), do_path_effectors(), blender::ed::sculpt_paint::pose::do_pose_brush(), dquat_to_mat4(), ED_view3d_cameracontrol_acquire(), ED_view3d_cameracontrol_release(), ED_view3d_cursor3d_position_rotation(), ED_view3d_cursor3d_update(), ED_view3d_lastview_store(), ED_view3d_quat_from_axis_view(), ED_view3d_smooth_view_ex(), fcurves_to_pchan_links_get(), ViewOpsData::init_navigation(), interp_qt_qtqt(), interpolate_pathcache(), invert_qt_qt(), invert_qt_qt_normalized(), blender::ed::object::metaball_coords_and_quats_apply_with_mat4(), blender::ed::object::metaball_coords_and_quats_get(), minimum_twist_between_two_points(), modify_mesh(), normalize_qt_qt(), blender::ed::object::object_clear_rot(), ObjectToTransData(), offset_child(), pose_bone_do_paste(), pose_mirror_info_init(), pose_mirror_info_restore(), pose_slide_apply_quat(), poseAnim_mapping_reset(), psys_cache_edit_paths_iter(), psys_cache_paths(), psys_get_birth_coords(), psys_get_from_key(), psys_get_particle_on_path(), psys_path_iter_get(), psys_thread_create_path(), quat_mul_float(), quat_to_compatible_quat(), Quaternion_CreatePyObject(), Quaternion_imatmul(), restoreElement(), rotateBevelPiece(), blender::ed::object::rotation_from_view(), ViewOpsData::state_backup(), ViewOpsData::state_restore(), transform_data_ext_rotate(), view3d_localview_update_rv3d(), view3d_smooth_view_state_backup(), view3d_smooth_view_state_restore(), viewrotate_apply(), viewrotate_apply_snap(), WM_xr_action_binding_create(), WM_xr_action_state_get(), wm_xr_draw_matrices_create(), wm_xr_navigation_fly_modal(), wm_xr_session_event_create(), WM_xr_session_state_controller_aim_rotation_get(), WM_xr_session_state_controller_grip_rotation_get(), WM_xr_session_state_nav_rotation_get(), WM_xr_session_state_nav_rotation_set(), and wm_xr_session_state_update().

◆ dot_qtqt()

float dot_qtqt	(	const float	a[4],
		const float	b[4] )

Definition at line 106 of file math_rotation.c.

References b.

Referenced by add_weighted_dq_dq(), angle_signed_normalized_qtqt(), angle_signed_qtqt(), dquat_to_mat4(), interp_qt_qtqt(), invert_qt(), mat3_normalized_to_quat_fast(), mul_v3m3_dq(), normalize_qt(), quat_to_axis_angle(), quat_to_mat3(), quat_to_mat4(), Quaternion_dot(), Quaternion_magnitude_get(), rotation_between_quats_to_quat(), and TEST().

◆ dquat_to_mat4()

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

Definition at line 2031 of file math_rotation.c.

References copy_qt_qt(), dot_qtqt(), len, mul_m4_m4m4(), mul_qt_fl(), DualQuat::quat, quat_to_mat4(), R, DualQuat::scale, DualQuat::scale_weight, sqrtf, and DualQuat::trans.

Referenced by armdef_evaluate().

◆ eul_to_mat3()

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

Definition at line 1340 of file math_rotation.c.

References cos(), and float.

Referenced by blender::nodes::node_fn_align_euler_to_vector_cc::align_rotations_auto_pivot(), blender::nodes::node_fn_align_euler_to_vector_cc::align_rotations_fixed_pivot(), euler_filter_multi_channel(), blender::nodes::node_fn_rotate_euler_cc::get_multi_function(), loc_eul_size_to_mat4(), blender::ed::object::new_primitive_matrix(), object_preview_camera_create(), rotate_eul(), blender::nodes::node_shader_vector_rotate_cc::sh_node_vector_rotate_euler(), and blender::bke::tests::TEST().

◆ eul_to_mat4()

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

Definition at line 1366 of file math_rotation.c.

References cos(), and float.

Referenced by BKE_texture_mapping_init().

◆ eul_to_quat()

void eul_to_quat	(	float	quat[4],
		const float	eul[3] )

Definition at line 1465 of file math_rotation.c.

References cosf, and sinf.

Referenced by modify_mesh(), blender::ed::object::object_clear_rot(), pchan_clear_rot(), pose_bone_do_paste(), protectedQuaternionBits(), and wm_xr_session_base_pose_calc().

◆ eulO_to_axis_angle()

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

Euler Rotation to Axis Angle.

Definition at line 1115 of file math_rotation.c.

References eulO_to_quat(), and quat_to_axis_angle().

Referenced by BKE_rotMode_change_values(), blender::ed::object::object_clear_rot(), pchan_clear_rot(), pose_bone_do_paste(), and protectedAxisAngleBits().

◆ eulO_to_gimbal_axis()

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

The matrix is written to as 3 axis vectors.

Definition at line 1911 of file math_rotation.c.

References copy_v3_v3(), eulO_to_mat3(), get_rotation_order_info(), R, and zero_v3().

Referenced by gimbal_axis_object(), and gimbal_axis_pose().

◆ eulO_to_mat3()

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

Construct 3x3 matrix from Euler angles (in radians).

Definition at line 1684 of file math_rotation.c.

References cos(), e, float, get_rotation_order_info(), M, and R.

Referenced by BKE_object_rot_to_mat3(), BKE_pchan_rot_to_mat3(), ElementRotation_ex(), Euler_rotate(), Euler_to_matrix(), eulO_to_gimbal_axis(), eulO_to_mat4(), joint_callback(), loc_eulO_size_to_mat4(), mathutils_any_to_rotmat(), rotate_eulO(), rotlike_evaluate(), transform_data_ext_rotate(), transform_evaluate(), ArmatureBoneDrawStrategyCustomShape::update_display_matrix(), and View3DCursor::matrix< blender::float3x3 >().

◆ eulO_to_mat4()

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

Construct 4x4 matrix from Euler angles (in radians).

Definition at line 1761 of file math_rotation.c.

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

Referenced by BKE_pchan_minmax(), C_Matrix_LocRotScale(), and constraintob_from_transdata().

◆ eulO_to_quat()

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

Construct quaternion from Euler angles (in radians).

Definition at line 1639 of file math_rotation.c.

References cos(), double(), e, float, get_rotation_order_info(), and R.

Referenced by add_eul_euleul(), BKE_object_mat3_to_rot(), BKE_rotMode_change_values(), Euler_to_quaternion(), eulO_to_axis_angle(), mapping_node_order_flip(), pose_bone_do_paste(), and sub_eul_euleul().

◆ expmap_to_quat()

void expmap_to_quat	(	float	r[4],
		const float	expmap[3] )

Definition at line 1324 of file math_rotation.c.

References angle(), angle_wrap_rad(), axis_angle_normalized_to_quat(), LIKELY, normalize_v3_v3(), and unit_qt().

Referenced by Quaternion_new().

◆ focallength_to_fov()

float focallength_to_fov	(	float	focal_length,
		float	sensor )

Lens/angle conversion (radians).

Definition at line 2310 of file math_rotation.c.

References atanf.

Referenced by BLI_uvproject_camera_info(), ED_view3d_radius_to_dist(), AnimationExporter::get_modified_export_curve(), lineart_main_load_geometries(), and CamerasExporter::operator()().

◆ fov_to_focallength()

float fov_to_focallength	(	float	hfov,
		float	sensor )

Definition at line 2315 of file math_rotation.c.

References tanf.

Referenced by AnimationImporter::convert_to_focal_length(), wm_xr_session_state_update(), and DocumentImporter::writeCamera().

◆ get_rotation_order_info()

static const RotOrderInfo * get_rotation_order_info ( const short order )

static

Definition at line 1626 of file math_rotation.c.

References BLI_assert, and rotOrders.

Referenced by eulO_to_gimbal_axis(), eulO_to_mat3(), eulO_to_quat(), and mat3_normalized_to_eulo2().

◆ interp_dot_slerp()

void interp_dot_slerp	(	float	t,
		float	cosom,
		float	r_w[2] )

Generic function for implementing slerp (quaternions and spherical vector coords).

Parameters

t	factor in [0..1]
cosom	dot product from normalized vectors/quats.
r_w	calculated weights.

Definition at line 868 of file math_rotation.c.

References acosf, BLI_assert, eps, fabsf, IN_RANGE_INCL, LIKELY, and sinf.

Referenced by interp_qt_qtqt(), interp_v2_v2v2_slerp(), interp_v3_v3v3_slerp(), and Vector_slerp().

◆ interp_qt_qtqt()

void interp_qt_qtqt	(	float	q[4],
		const float	a[4],
		const float	b[4],
		const float	t )

◆ invert_qt()

void invert_qt ( float q[4] )

Definition at line 111 of file math_rotation.c.

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

Referenced by invert_qt_qt(), and Quaternion_invert().

◆ invert_qt_normalized()

void invert_qt_normalized ( float q[4] )

This is just conjugate_qt for cases we know q is unit-length. we could use conjugate_qt directly, but use this function to show intent, and assert if its ever becomes non-unit-length.

Definition at line 129 of file math_rotation.c.

References BLI_ASSERT_UNIT_QUAT, and conjugate_qt().

Referenced by BKE_object_mat3_to_rot(), dvar_eval_rotDiff(), ED_view3d_from_m4(), invert_qt_qt_normalized(), nla_combine_quaternion_get_inverted_lower_values(), nla_combine_quaternion_get_inverted_strip_values(), sub_eul_euleul(), view3d_boxview_sync_axis(), view3d_orbit_apply_dyn_ofs(), view_axis_exec(), and viewrotate_apply_snap().

◆ invert_qt_qt()

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

Definition at line 123 of file math_rotation.c.

References copy_qt_qt(), invert_qt(), and q1.

◆ invert_qt_qt_normalized()

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

Definition at line 135 of file math_rotation.c.

References copy_qt_qt(), invert_qt_normalized(), and q1.

Referenced by ED_view3d_distance_set(), ED_view3d_distance_set_from_location(), ElementRotation_ex(), psys_get_birth_coords(), view3d_orbit_apply_dyn_ofs(), view3d_orbit_apply_dyn_ofs_ortho_correction(), viewrotate_apply_snap(), wm_xr_pose_scale_to_imat(), and wm_xr_pose_to_imat().

◆ is_zero_qt()

bool is_zero_qt ( const float q[4] )

Definition at line 55 of file math_rotation.c.

◆ mat3_from_axis_conversion()

bool mat3_from_axis_conversion	(	int	src_forward,
		int	src_up,
		int	dst_forward,
		int	dst_up,
		float	r_mat[3][3] )

Each argument us an axis in ['X', 'Y', 'Z', '-X', '-Y', '-Z'] where the first 2 are a source and the second 2 are the target.

Definition at line 2424 of file math_rotation.c.

References _axis_convert_lut, _axis_convert_matrix, _axis_signed(), ARRAY_SIZE, copy_m3_m3(), and unit_m3().

Referenced by BCMatrix::BCMatrix(), blender::io::usd::USDTransformWriter::do_write(), blender::io::usd::ensure_root_prim(), blender::io::stl::export_frame(), blender::io::ply::importer_main(), blender::io::stl::importer_main(), mat3_from_axis_conversion_single(), meshcache_do(), blender::io::ply::set_world_axes_transform(), blender::math::tests::TEST(), and blender::io::obj::transform_object().

◆ mat3_from_axis_conversion_single()

bool mat3_from_axis_conversion_single	(	int	src_axis,
		int	dst_axis,
		float	r_mat[3][3] )

Use when the second axis can be guessed.

Definition at line 2457 of file math_rotation.c.

References mat3_from_axis_conversion(), and unit_m3().

Referenced by single_axis_convert(), and blender::math::tests::TEST().

◆ mat3_normalized_to_axis_angle()

void mat3_normalized_to_axis_angle	(	float	axis[3],
		float *	angle,
		const float	mat[3][3] )

3x3 matrix to axis angle.

Definition at line 1186 of file math_rotation.c.

References mat3_normalized_to_quat(), and quat_to_axis_angle().

Referenced by BKE_pchan_mat3_to_rot(), and pivotcon_evaluate().

◆ mat3_normalized_to_compatible_eul()

void mat3_normalized_to_compatible_eul	(	float	eul[3],
		const float	oldrot[3],
		float	mat[3][3] )

Definition at line 1557 of file math_rotation.c.

References compatible_eul(), copy_v3_v3(), fabsf, and mat3_normalized_to_eul2().

Referenced by euler_filter_multi_channel(), mat3_to_compatible_eul(), Matrix_to_euler(), and quat_to_compatible_eul().

◆ mat3_normalized_to_compatible_eulO()

void mat3_normalized_to_compatible_eulO	(	float	eul[3],
		const float	oldrot[3],
		const short	order,
		const float	mat[3][3] )

Definition at line 1812 of file math_rotation.c.

References compatible_eul(), copy_v3_v3(), fabsf, and mat3_normalized_to_eulo2().

Referenced by BKE_pchan_mat3_to_rot(), mat3_to_compatible_eulO(), mat4_normalized_to_compatible_eulO(), mat4_to_compatible_eulO(), Matrix_to_euler(), and quat_to_compatible_eulO().

◆ mat3_normalized_to_eul()

void mat3_normalized_to_eul	(	float	eul[3],
		const float	mat[3][3] )

Definition at line 1422 of file math_rotation.c.

References copy_v3_v3(), fabsf, and mat3_normalized_to_eul2().

Referenced by blender::ed::object::add_generic_get_opts(), mat3_to_eul(), mat4_normalized_to_eul(), Matrix_to_euler(), and quat_to_eul().

◆ mat3_normalized_to_eul2()

static void mat3_normalized_to_eul2	(	const float	mat[3][3],
		float	eul1[3],
		float	eul2[3] )

static

Definition at line 1398 of file math_rotation.c.

References atan2f, BLI_ASSERT_UNIT_M3, copy_v3_v3(), EULER_HYPOT_EPSILON, and hypotf.

Referenced by mat3_normalized_to_compatible_eul(), and mat3_normalized_to_eul().

◆ mat3_normalized_to_eulO()

void mat3_normalized_to_eulO	(	float	eul[3],
		short	order,
		const float	m[3][3] )

Convert 3x3 matrix to Euler angles (in radians).

Definition at line 1770 of file math_rotation.c.

References copy_v3_v3(), fabsf, and mat3_normalized_to_eulo2().

Referenced by BKE_pchan_mat3_to_rot(), mat3_to_eulO(), mat4_normalized_to_eulO(), mat4_to_eulO(), Matrix_to_euler(), and quat_to_eulO().

◆ mat3_normalized_to_eulo2()

static void mat3_normalized_to_eulo2	(	const float	mat[3][3],
		float	eul1[3],
		float	eul2[3],
		const short	order )

static

Definition at line 1725 of file math_rotation.c.

References atan2f, BLI_ASSERT_UNIT_M3, copy_v3_v3(), EULER_HYPOT_EPSILON, get_rotation_order_info(), hypotf, negate_v3(), and R.

Referenced by mat3_normalized_to_compatible_eulO(), and mat3_normalized_to_eulO().

◆ mat3_normalized_to_quat()

void mat3_normalized_to_quat	(	float	q[4],
		const float	mat[3][3] )

Definition at line 392 of file math_rotation.c.

References copy_m3_m3(), and mat3_normalized_to_quat_with_checks().

Referenced by BKE_object_mat3_to_rot(), BKE_pchan_mat3_to_rot(), ED_view3d_from_m4(), mat3_normalized_to_axis_angle(), mat4_to_loc_quat(), TEST(), and test_quat_to_mat_to_quat().

◆ mat3_normalized_to_quat_fast()

void mat3_normalized_to_quat_fast	(	float	q[4],
		const float	mat[3][3] )

A version of mat3_normalized_to_quat that skips error checking.

Definition at line 286 of file math_rotation.c.

References BLI_assert, BLI_ASSERT_UNIT_M3, dot_qtqt(), fabs(), is_negative_m3(), normalize_qt(), sqrtf, and UNLIKELY.

Referenced by blend_m3_m3m3(), blend_m4_m4m4(), mat3_normalized_to_quat_with_checks(), mat4_decompose(), Matrix_decompose(), and TEST().

◆ mat3_normalized_to_quat_with_checks()

static void mat3_normalized_to_quat_with_checks	(	float	q[4],
		float	mat[3][3] )

static

Definition at line 380 of file math_rotation.c.

References determinant_m3_array(), mat3_normalized_to_quat_fast(), negate_m3(), unit_m3(), and UNLIKELY.

Referenced by mat3_normalized_to_quat(), mat3_to_quat(), mat4_normalized_to_quat(), and mat4_to_quat().

◆ mat3_to_axis_angle()

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

Definition at line 1195 of file math_rotation.c.

References mat3_to_quat(), and quat_to_axis_angle().

Referenced by transform_data_ext_rotate().

◆ mat3_to_compatible_eul()

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

Definition at line 1578 of file math_rotation.c.

References mat3_normalized_to_compatible_eul(), and normalize_m3_m3().

◆ mat3_to_compatible_eulO()

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

Definition at line 1836 of file math_rotation.c.

References mat3_normalized_to_compatible_eulO(), and normalize_m3_m3().

Referenced by ElementRotation_ex(), Euler_rotate(), and transform_data_ext_rotate().

◆ mat3_to_eul()

void mat3_to_eul	(	float	eul[3],
		const float	mat[3][3] )

Definition at line 1438 of file math_rotation.c.

References mat3_normalized_to_eul(), and normalize_m3_m3().

Referenced by blender::nodes::node_fn_align_euler_to_vector_cc::align_rotations_auto_pivot(), blender::nodes::node_fn_align_euler_to_vector_cc::align_rotations_fixed_pivot(), blender::io::usd::ensure_root_prim(), blender::nodes::node_fn_rotate_euler_cc::get_multi_function(), mat4_to_eul(), rotate_eul(), and view3d_interactive_add_modal().

◆ mat3_to_eulO()

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

Definition at line 1788 of file math_rotation.c.

References mat3_normalized_to_eulO(), and normalize_m3_m3().

Referenced by blender::io::alembic::copy_m44_axis_swap(), rotate_eulO(), and transform_evaluate().

◆ mat3_to_quat()

void mat3_to_quat	(	float	q[4],
		const float	mat[3][3] )

Definition at line 399 of file math_rotation.c.

References mat3_normalized_to_quat_with_checks(), and normalize_m3_m3().

Referenced by ED_view3d_cursor3d_position_rotation(), ElementRotation_ex(), execute_posetree(), interp_m3_m3m3(), mat3_to_axis_angle(), mat3_vec_to_roll(), Matrix_to_quaternion(), modify_mesh(), object_preview_camera_create(), psys_get_birth_coords(), Quaternion_rotate(), transform_data_ext_rotate(), and view_axis_exec().

◆ mat3_to_quat_legacy()

void mat3_to_quat_legacy	(	float	q[4],
		const float	wmat[3][3] )

Legacy matrix to quaternion conversion, keep to prevent changes to existing boids & particle-system behavior. Use mat3_to_quat for new code.

Definition at line 421 of file math_rotation.c.

References angle(), atan2f, copy_m3_m3(), cosf, invert_m3_m3(), mul_m3_v3(), mul_qt_qtqt(), nor, normalize_m3(), normalize_v3(), q1, quat_to_mat3_no_error(), safe_acosf(), and sinf.

Referenced by boid_body(), psys_cache_edit_paths_iter(), psys_cache_paths(), and psys_get_birth_coords().

◆ mat4_normalized_to_axis_angle()

void mat4_normalized_to_axis_angle	(	float	axis[3],
		float *	angle,
		const float	mat[4][4] )

4x4 matrix to axis angle.

Definition at line 1205 of file math_rotation.c.

References mat4_normalized_to_quat(), and quat_to_axis_angle().

◆ mat4_normalized_to_compatible_eulO()

void mat4_normalized_to_compatible_eulO	(	float	eul[3],
		const float	oldrot[3],
		const short	order,
		const float	mat[4][4] )

Definition at line 1847 of file math_rotation.c.

References copy_m3_m4(), and mat3_normalized_to_compatible_eulO().

◆ mat4_normalized_to_eul()

void mat4_normalized_to_eul	(	float	eul[3],
		const float	m[4][4] )

Definition at line 1445 of file math_rotation.c.

References copy_m3_m4(), and mat3_normalized_to_eul().

◆ mat4_normalized_to_eulO()

void mat4_normalized_to_eulO	(	float	eul[3],
		short	order,
		const float	m[4][4] )

Convert 4x4 matrix to Euler angles (in radians).

Definition at line 1795 of file math_rotation.c.

References copy_m3_m4(), and mat3_normalized_to_eulO().

◆ mat4_normalized_to_quat()

void mat4_normalized_to_quat	(	float	q[4],
		const float	mat[4][4] )

Definition at line 406 of file math_rotation.c.

References copy_m3_m4(), and mat3_normalized_to_quat_with_checks().

Referenced by mat4_normalized_to_axis_angle(), and obmat_to_viewmat().

◆ mat4_to_axis_angle()

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

4x4 matrix to axis angle.

Definition at line 1215 of file math_rotation.c.

References mat4_to_quat(), and quat_to_axis_angle().

Referenced by constraintRotLim(), and blender::animrig::visualkey_get_values().

◆ mat4_to_compatible_eulO()

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

Definition at line 1858 of file math_rotation.c.

References copy_m3_m4(), mat3_normalized_to_compatible_eulO(), and normalize_m3().

Referenced by rotlike_evaluate().

◆ mat4_to_dquat()

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

Definition at line 1972 of file math_rotation.c.

References copy_m3_m4(), copy_m4_m4(), copy_v3_v3(), determinant_m4(), invert_m4_m4(), is_orthonormal_m3(), len_squared_v3(), mat4_to_quat(), mat4_to_size(), mul_m4_m4m4(), mul_m4_series, orthogonalize_m4(), DualQuat::quat, quat_to_mat4(), R, DualQuat::scale, DualQuat::scale_weight, square_f(), and DualQuat::trans.

Referenced by armdef_accumulate_matrix(), BKE_pchan_bbone_segments_cache_compute(), BKE_pose_bone_done(), and blender::math::tests::TEST().

◆ mat4_to_eul()

void mat4_to_eul	(	float	eul[3],
		const float	mat[4][4] )

Definition at line 1451 of file math_rotation.c.

References copy_m3_m4(), and mat3_to_eul().

Referenced by actcon_get_tarmat(), and bc_decompose().

◆ mat4_to_eulO()

void mat4_to_eulO	(	float	eul[3],
		const short	order,
		const float	m[4][4] )

Definition at line 1804 of file math_rotation.c.

References copy_m3_m4(), mat3_normalized_to_eulO(), and normalize_m3().

Referenced by BKE_driver_target_matrix_to_rot_channels(), childof_evaluate(), constraintRotLim(), pivotcon_evaluate(), rotlike_evaluate(), rotlimit_evaluate(), and blender::animrig::visualkey_get_values().

◆ mat4_to_quat()

void mat4_to_quat	(	float	q[4],
		const float	mat[4][4] )

◆ mod_inline()

static float mod_inline	(	float	a,
		float	b )

static

Definition at line 2321 of file math_rotation.c.

References b, and floorf.

Referenced by angle_wrap_deg(), and angle_wrap_rad().

◆ mul_qt_fl()

void mul_qt_fl	(	float	q[4],
		float	f )

Simple multiply.

Definition at line 141 of file math_rotation.c.

Referenced by dquat_to_mat4(), invert_qt(), normalize_dq(), normalize_qt(), blender::ed::object::object_clear_rot(), pchan_clear_rot(), protectedQuaternionBits(), quat_mul_float(), Quaternion_angle_set(), Quaternion_axis_vector_set(), Quaternion_imul(), Quaternion_make_compatible(), Quaternion_negate(), Quaternion_rotate(), rotation_between_quats_to_quat(), and test_quat_to_mat_to_quat().

◆ mul_qt_qtqt()

void mul_qt_qtqt	(	float	q[4],
		const float	a[4],
		const float	b[4] )

Definition at line 60 of file math_rotation.c.

References b.

Referenced by add_eul_euleul(), axis_set_view(), basic_rotate(), bc_rotate_from_reference_quat(), bevel_list_apply_tilt(), bevel_list_smooth(), BKE_mball_transform(), BKE_object_mat3_to_rot(), bm_edgering_pair_interpolate(), cache_key_incremental_rotation(), calc_curve_deform(), dvar_eval_rotDiff(), ED_view3d_cursor3d_position_rotation(), ElementRotation_ex(), flyApply(), interpolate_pathcache(), make_bevel_list_3D_minimum_twist(), make_bevel_list_segment_3D(), mat3_to_quat_legacy(), minimum_twist_between_two_points(), modify_mesh(), nla_combine_quaternion(), nla_combine_quaternion_get_inverted_lower_values(), nla_combine_quaternion_get_inverted_strip_values(), psys_get_birth_coords(), psys_path_iter_get(), psys_thread_create_path(), quat_apply_track(), quat_split_swing_and_twist(), quat_to_compatible_quat(), Quaternion_cross(), Quaternion_imatmul(), Quaternion_matmul(), BCQuat::rotate_to(), rotation_between_quats_to_quat(), blender::ed::object::rotation_from_quat(), sub_eul_euleul(), sub_qt_qtqt(), tri_to_quat_ex(), vec_to_quat(), view3d_orbit_apply_dyn_ofs(), view_axis_exec(), view_roll_angle(), vieworbit_exec(), viewrotate_apply(), viewrotate_apply_snap(), walkApply(), wm_xr_basenav_rotation_calc(), and wm_xr_session_base_pose_calc().

◆ mul_qt_v3()

void mul_qt_v3	(	const float	q[4],
		float	r[3] )

Note: Assumes a unit quaternion?

in fact not, but you may want to use a unit quaternion read on...

Shortcut for 'q v q*' when v is actually a quaternion. This removes the need for converting a vector to a quaternion, calculating q's conjugate and converting back to a vector. It also happens to be faster (17+,24* vs * 24+,32*). If q is not a unit quaternion, then v will be both rotated by the same amount as if q was a unit quaternion, and scaled by the square of the length of q.

For people used to python mathutils, its like: def mul_qt_v3(q, v): (q * Quaternion((0.0, v[0], v[1], v[2])) * q.conjugated())[1:]

Note: Multiplying by 3x3 matrix is ~25% faster.

Definition at line 73 of file math_rotation.c.

Referenced by axis_angle_to_gimbal_axis(), bevel_list_smooth(), bm_edgering_pair_interpolate(), boid_body(), calc_curve_deform(), blender::draw::curve_create_edit_curves_nor(), do_guides(), do_kink(), do_physical_effector(), draw_view_axis(), DRW_draw_cursor(), ED_view3d_cursor3d_position_rotation(), ED_view3d_distance_set(), ED_view3d_distance_set_from_location(), explodeMesh(), get_effector_data(), gizmo_ruler_draw(), knifetool_draw_angle(), make_bevel_list_3D_minimum_twist(), mball_select_similar_type(), mball_select_similar_type_get(), modify_mesh(), offset_child(), psys_get_birth_coords(), psys_get_dupli_path_transform(), psys_thread_create_path(), Quaternion_matmul(), recalcData_edit_armature(), rotateBevelPiece(), rule_average_speed(), view3d_boxview_sync_axis(), view3d_orbit_apply_dyn_ofs(), view3d_orbit_apply_dyn_ofs_ortho_correction(), viewrotate_apply_snap(), wm_xr_navigation_reset_exec(), and wm_xr_raycast_update().

◆ mul_v3m3_dq()

void mul_v3m3_dq	(	float	r[3],
		float	R[3][3],
		DualQuat *	dq )

Definition at line 2172 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, R, DualQuat::scale, DualQuat::scale_weight, DualQuat::trans, w(), x, y, and z().

Referenced by armature_vert_task_with_dvert(), and blender::math::tests::TEST().

◆ normalize_dq()

void normalize_dq	(	DualQuat *	dq,
		float	totweight )

Definition at line 2147 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_vert_task_with_dvert(), and armdef_evaluate().

◆ normalize_qt()

◆ normalize_qt_qt()

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

Definition at line 483 of file math_rotation.c.

References copy_qt_qt(), and normalize_qt().

Referenced by angle_qt(), angle_qtqt(), angle_signed_qt(), axis_set_view(), BKE_object_mat3_to_rot(), BKE_object_rot_to_mat3(), BKE_pchan_rot_to_mat3(), constraintob_from_transdata(), make_duplis_particle_system(), mathutils_any_to_rotmat(), nla_combine_quaternion(), nla_combine_quaternion_get_inverted_lower_values(), nla_combine_quaternion_get_inverted_strip_values(), pchan_clear_rot(), pose_slide_apply_quat(), protectedQuaternionBits(), quat_to_compatible_quat(), quat_to_expmap(), Quaternion_angle_get(), Quaternion_angle_set(), Quaternion_axis_vector_get(), Quaternion_axis_vector_set(), Quaternion_make_compatible(), Quaternion_rotate(), Quaternion_to_axis_angle(), Quaternion_to_euler(), test_quat_to_mat_to_quat(), transform_data_ext_rotate(), and View3DCursor::matrix< blender::float3x3 >().

◆ pow_qt_fl_normalized()

void pow_qt_fl_normalized	(	float	q[4],
		float	fac )

Raise a unit quaternion to the specified power.

Definition at line 161 of file math_rotation.c.

References BLI_ASSERT_UNIT_QUAT, cosf, normalize_v3_length(), safe_acosf(), and sinf.

Referenced by nla_combine_quaternion(), nla_combine_quaternion_get_inverted_lower_values(), and nla_combine_quaternion_get_inverted_strip_values().

◆ print_qt()

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

Definition at line 1044 of file math_rotation.c.

References printf, and str.

◆ quat_apply_track()

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

Axis matches eTrackToAxis_Modes.

Definition at line 2230 of file math_rotation.c.

References BLI_assert, float, M_SQRT1_2, and mul_qt_qtqt().

Referenced by calc_curve_deform(), followpath_get_tarmat(), ob_parcurve(), and blender::math::tests::TEST().

◆ quat_normalized_to_expmap()

void quat_normalized_to_expmap	(	float	expmap[3],
		const float	q[4] )

Definition at line 1305 of file math_rotation.c.

References angle(), BLI_ASSERT_UNIT_QUAT, mul_v3_fl(), and quat_to_axis_angle().

Referenced by quat_to_expmap().

◆ quat_split_swing_and_twist()

float quat_split_swing_and_twist	(	const float	q_in[4],
		int	axis,
		float	r_swing[4],
		float	r_twist[4] )

Decompose a quaternion into a swing rotation (quaternion with the selected axis component locked at zero), followed by a twist rotation around the axis.

Parameters

q	input quaternion.
axis	twist axis in [0,1,2]
r_swing	if not NULL, receives the swing quaternion.
r_twist	if not NULL, receives the twist quaternion.

Returns: twist angle.

Definition at line 565 of file math_rotation.c.

References atan2f, BLI_assert, BLI_ASSERT_UNIT_EPSILON, copy_v4_v4(), cosf, fabsf, mul_qt_qtqt(), negate_v4_v4(), sinf, and zero_v3().

Referenced by BKE_driver_target_matrix_to_rot_channels(), mat3_vec_to_roll(), Quaternion_to_swing_twist(), and TEST().

◆ quat_to_axis_angle()

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

Quaternions to Axis Angle.

Definition at line 1073 of file math_rotation.c.

References acosf, dot_qtqt(), fabsf, is_zero_v3(), QUAT_EPSILON, and sinf.

Referenced by BKE_object_mat3_to_rot(), BKE_rotMode_change_values(), ElementRotation_ex(), eulO_to_axis_angle(), flip_qt_qt(), mat3_normalized_to_axis_angle(), mat3_to_axis_angle(), mat4_normalized_to_axis_angle(), mat4_to_axis_angle(), pose_bone_do_paste(), quat_normalized_to_expmap(), Quaternion_angle_set(), Quaternion_axis_vector_get(), Quaternion_axis_vector_set(), and Quaternion_to_axis_angle().

◆ quat_to_compatible_eul()

void quat_to_compatible_eul	(	float	eul[3],
		const float	oldrot[3],
		const float	quat[4] )

Definition at line 1585 of file math_rotation.c.

References mat3_normalized_to_compatible_eul(), and quat_to_mat3().

Referenced by Quaternion_to_euler(), and BCMatrix::set_transform().

◆ quat_to_compatible_eulO()

void quat_to_compatible_eulO	(	float	eul[3],
		const float	oldrot[3],
		const short	order,
		const float	quat[4] )

Definition at line 1871 of file math_rotation.c.

References mat3_normalized_to_compatible_eulO(), and quat_to_mat3().

Referenced by BKE_object_mat3_to_rot(), and Quaternion_to_euler().

◆ quat_to_compatible_quat()

void quat_to_compatible_quat	(	float	q[4],
		const float	a[4],
		const float	old[4] )

Apply the rotation of a to q keeping the values compatible with old. Avoid axis flipping for animated f-curves for eg.

Definition at line 172 of file math_rotation.c.

References BLI_ASSERT_UNIT_QUAT, copy_qt_qt(), eps, len_squared_v4v4(), mul_qt_qtqt(), negate_v4_v4(), normalize_qt_qt(), and rotation_between_quats_to_quat().

Referenced by pose_slide_apply_quat(), and Quaternion_make_compatible().

◆ quat_to_eul()

void quat_to_eul	(	float	eul[3],
		const float	quat[4] )

Definition at line 1458 of file math_rotation.c.

References mat3_normalized_to_eul(), and quat_to_mat3().

Referenced by blender::ed::object::object_clear_rot(), pchan_clear_rot(), pose_bone_do_paste(), protectedQuaternionBits(), Quaternion_to_euler(), blender::ed::object::rotation_from_quat(), BCMatrix::set_transform(), blender::io::usd::USDTransformWriter::set_xform_ops(), wm_xr_basenav_rotation_calc(), and wm_xr_session_base_pose_calc().

◆ quat_to_eulO()

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

Convert quaternion to Euler angles (in radians).

Definition at line 1676 of file math_rotation.c.

References e, mat3_normalized_to_eulO(), and quat_to_mat3().

Referenced by add_eul_euleul(), axis_angle_to_eulO(), BKE_object_mat3_to_rot(), BKE_rotMode_change_values(), mapping_node_order_flip(), pose_bone_do_paste(), Quaternion_to_euler(), and sub_eul_euleul().

◆ quat_to_expmap()

void quat_to_expmap	(	float	expmap[3],
		const float	q[4] )

Definition at line 1317 of file math_rotation.c.

References normalize_qt_qt(), and quat_normalized_to_expmap().

Referenced by Quaternion_to_exponential_map().

◆ quat_to_mat3()

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

Definition at line 226 of file math_rotation.c.

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

Referenced by BKE_crazyspace_build_sculpt(), BKE_curve_deform_co(), BKE_object_rot_to_mat3(), BKE_pchan_rot_to_mat3(), blend_m3_m3m3(), createTransMBallVerts(), ED_view3d_cursor3d_update(), ElementRotation_ex(), execute_posetree(), getTransformOrientation_ex(), interp_m3_m3m3(), joint_callback(), loc_quat_size_to_mat4(), mathutils_any_to_rotmat(), ob_parvert3(), quat_to_compatible_eul(), quat_to_compatible_eulO(), quat_to_eul(), quat_to_eulO(), Quaternion_rotate(), Quaternion_to_matrix(), TEST(), test_quat_to_mat_to_quat(), transform_convert_mesh_crazyspace_transdata_set(), transform_data_ext_rotate(), tri_to_quat_ex(), vec_to_quat(), View3DCursor::matrix< blender::float3x3 >(), viewrotate_apply(), wm_xr_fly_compute_move(), wm_xr_grab_compute_bimanual(), wm_xr_navigation_reset_exec(), and wm_xr_navigation_teleport().

◆ quat_to_mat3_no_error()

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

static

Definition at line 194 of file math_rotation.c.

References double(), float, M_SQRT2, and q1.

Referenced by mat3_to_quat_legacy(), and quat_to_mat3().

◆ quat_to_mat4()

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

Definition at line 240 of file math_rotation.c.

References dot_qtqt(), double(), fabs(), float, M_SQRT2, q1, and QUAT_EPSILON.

Referenced by bc_rotate_from_reference_quat(), C_Matrix_LocRotScale(), constraintob_from_transdata(), TransformReader::dae_rotate_to_mat4(), blender::ed::sculpt_paint::pose::do_pose_brush(), dquat_to_mat4(), blender::ed::sculpt_paint::dyntopo::dyntopo_detail_size_edit_invoke(), ED_view3d_to_m4(), followpath_get_tarmat(), init_meta(), make_duplis_particle_system(), mat4_to_dquat(), ob_parcurve(), blender::ed::sculpt_paint::paint_cursor_drawing_setup_cursor_space(), psys_get_dupli_path_transform(), BCQuat::rotate_to(), blender::ed::sculpt_paint::cloth::simulation_limits_draw(), blender::ed::sculpt_paint::transform_matrices_init(), view3d_viewmatrix_set(), wm_xr_grab_compute(), wm_xr_grab_update(), wm_xr_navigation_grab_bimanual_state_update(), wm_xr_pose_scale_to_imat(), wm_xr_pose_to_imat(), and wm_xr_pose_to_mat().

◆ rotate_eul()

void rotate_eul	(	float	beul[3],
		const char	axis,
		const float	angle )

Definition at line 1489 of file math_rotation.c.

References angle(), BLI_assert, eul_to_mat3(), mat3_to_eul(), and mul_m3_m3m3().

◆ rotate_eulO()

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

Definition at line 1885 of file math_rotation.c.

References angle(), BLI_assert, eulO_to_mat3(), mat3_to_eulO(), mul_m3_m3m3(), and zero_v3().

Referenced by Euler_rotate_axis(), and rotlike_evaluate().

◆ rotation_between_quats_to_quat()

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

Definition at line 554 of file math_rotation.c.

References conjugate_qt_qt(), dot_qtqt(), mul_qt_fl(), mul_qt_qtqt(), and q1.

Referenced by angle_normalized_qtqt(), DRW_draw_cursor(), quat_to_compatible_quat(), Quaternion_rotation_difference(), and blender::ed::sculpt_paint::pose::solve_roll_chain().

◆ rotation_between_vecs_to_mat3()

void rotation_between_vecs_to_mat3	(	float	m[3][3],
		const float	v1[3],
		const float	v2[3] )

Calculate a rotation matrix from 2 normalized vectors.

Note: v1 and v2 must be normalized.

Definition at line 489 of file math_rotation.c.

References axis_angle_normalized_to_mat3_ex(), BLI_ASSERT_UNIT_M3, BLI_ASSERT_UNIT_V3, cross_v3_v3v3(), dot_v3v3(), normalize_v3(), ortho_v3_v3(), unit_m3(), and v2.

Referenced by applyFaceProject(), blender::geometry::calc_position_with_interpolation(), cloth_parallel_transport_hair_frame(), ED_view3d_win_to_3d_on_plane_with_fallback(), blender::ed::sculpt_paint::SlideOperationExecutor::get_slide_transform(), gizmo_mesh_spin_redo_update_orient_axis(), blender::ed::object::object_orient_to_location(), transdata_elem_translate(), and wm_gizmo_set_matrix_rotation_from_z_axis__internal().

◆ rotation_between_vecs_to_quat()

void rotation_between_vecs_to_quat	(	float	q[4],
		const float	v1[3],
		const float	v2[3] )

◆ sin_cos_from_fraction()

void sin_cos_from_fraction	(	int	numerator,
		int	denominator,
		float *	r_sin,
		float *	r_cos )

Utility that performs sinf & cosf intended for plotting a 2D circle, where the values of the coordinates with are exactly symmetrical although this favors even numbers as odd numbers can only be symmetrical on a single axis.

Besides adjustments to precision, this function is the equivalent of:

float phi = (2 * M_PI) * (float)i / (float)denominator;
*r_sin = sinf(phi);
*r_cos = cosf(phi);

Parameters

numerator	An integer factor in [0..denominator] (inclusive).
denominator	The fraction denominator (typically the number of segments of the circle).
r_sin	The resulting sine.
r_cos	The resulting cosine.

Definition at line 985 of file math_rotation.c.

References BLI_assert, BLI_assert_unreachable, cosf, ELEM, float, M_PI, sinf, and SWAP.

Referenced by bmo_create_circle_exec(), bmo_create_cone_exec(), bmo_create_uvsphere_exec(), TEST(), TEST(), test_sin_cos_from_fraction_accuracy(), and test_sin_cos_from_fraction_symmetry().

◆ sub_eul_euleul()

void sub_eul_euleul	(	float	r_eul[3],
		float	a[3],
		float	b[3],
		const short	order )

Definition at line 1945 of file math_rotation.c.

References b, eulO_to_quat(), invert_qt_normalized(), mul_qt_qtqt(), and quat_to_eulO().

Referenced by ElementRotation_ex().

◆ sub_qt_qtqt()

void sub_qt_qtqt	(	float	q[4],
		const float	a[4],
		const float	b[4] )

Definition at line 149 of file math_rotation.c.

References b, and mul_qt_qtqt().

Referenced by explodeMesh(), set_crazy_vertex_quat(), and blender::ed::sculpt_paint::transform_matrices_init().

◆ tri_to_quat()

float tri_to_quat	(	float	q[4],
		const float	a[3],
		const float	b[3],
		const float	c[3] )

Returns: the length of the normal, use to test for degenerate triangles.

Definition at line 976 of file math_rotation.c.

References b, len, normal_tri_v3(), and tri_to_quat_ex().

Referenced by make_bevel_list_3D_tangent(), and ob_parvert3().

◆ tri_to_quat_ex()

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

Same as tri_to_quat() but takes pre-computed normal from the triangle used for ngons when we know their normal.

Definition at line 924 of file math_rotation.c.

References angle(), atan2f, copy_v3_v3(), cosf, invert_m3_m3(), mul_m3_v3(), mul_qt_qtqt(), normal_tri_v3(), normalize_v3(), q1, quat_to_mat3(), safe_acosf(), sinf, sub_v3_v3v3(), and v2.

Referenced by get_dupliface_transform_from_coords(), tan_calc_quat_v3(), and tri_to_quat().

◆ unit_axis_angle()

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

Definition at line 33 of file math_rotation.c.

Referenced by blender::ed::object::apply_objects_internal(), applyarmature_transfer_properties(), BKE_pose_channel_ensure(), BKE_pose_rest(), blo_do_versions_250(), blender::ed::object::object_clear_rot(), and pchan_clear_rot().

◆ unit_qt()

void unit_qt ( float q[4] )

Definition at line 41 of file math_rotation.c.

Referenced by blender::ed::object::apply_objects_internal(), applyarmature_transfer_properties(), axis_angle_to_quat(), basic_rotate(), BCQuat::BCQuat(), BKE_curve_bevelList_make(), BKE_mball_element_add(), BKE_pose_channel_ensure(), BKE_pose_rest(), blo_do_versions_250(), cache_key_incremental_rotation(), expmap_to_quat(), get_duplivert_transform(), modify_mesh(), nlaevalchan_get_default_values(), blender::ed::object::object_clear_rot(), offset_child(), particles_fluid_step(), pchan_clear_rot(), psys_get_birth_coords(), psys_path_iter_get(), psys_thread_create_path(), ptcache_particle_interpolate(), ptcache_particle_read(), Quaternion_CreatePyObject(), Quaternion_identity(), Quaternion_new(), rotation_between_vecs_to_quat(), blender::ed::sculpt_paint::pose::solve_translate_chain(), tan_calc_quat_v3(), vec_to_quat(), view_axis_exec(), wm_xr_navigation_reset_exec(), WM_xr_session_state_controller_aim_rotation_get(), WM_xr_session_state_controller_grip_rotation_get(), WM_xr_session_state_nav_rotation_get(), WM_xr_session_state_navigation_reset(), and WM_xr_session_state_viewer_pose_rotation_get().

◆ vec_apply_track()

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

Definition at line 2268 of file math_rotation.c.

References BLI_assert, and copy_v3_v3().

Referenced by calc_curve_deform().

◆ vec_to_quat()

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

Variable Documentation

◆ _axis_convert_lut

int _axis_convert_lut[23][24]

static

Definition at line 2368 of file math_rotation.c.

Referenced by mat3_from_axis_conversion().

◆ _axis_convert_matrix

float _axis_convert_matrix[23][3][3]

static

Initial value:

= {
    {{-1.0, 0.0, 0.0}, {0.0, -1.0, 0.0}, {0.0, 0.0, 1.0}},
    {{-1.0, 0.0, 0.0}, {0.0, 0.0, -1.0}, {0.0, -1.0, 0.0}},
    {{-1.0, 0.0, 0.0}, {0.0, 0.0, 1.0}, {0.0, 1.0, 0.0}},
    {{-1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {0.0, 0.0, -1.0}},
    {{0.0, -1.0, 0.0}, {-1.0, 0.0, 0.0}, {0.0, 0.0, -1.0}},
    {{0.0, 0.0, 1.0}, {-1.0, 0.0, 0.0}, {0.0, -1.0, 0.0}},
    {{0.0, 0.0, -1.0}, {-1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}},
    {{0.0, 1.0, 0.0}, {-1.0, 0.0, 0.0}, {0.0, 0.0, 1.0}},
    {{0.0, -1.0, 0.0}, {0.0, 0.0, 1.0}, {-1.0, 0.0, 0.0}},
    {{0.0, 0.0, -1.0}, {0.0, -1.0, 0.0}, {-1.0, 0.0, 0.0}},
    {{0.0, 0.0, 1.0}, {0.0, 1.0, 0.0}, {-1.0, 0.0, 0.0}},
    {{0.0, 1.0, 0.0}, {0.0, 0.0, -1.0}, {-1.0, 0.0, 0.0}},
    {{0.0, -1.0, 0.0}, {0.0, 0.0, -1.0}, {1.0, 0.0, 0.0}},
    {{0.0, 0.0, 1.0}, {0.0, -1.0, 0.0}, {1.0, 0.0, 0.0}},
    {{0.0, 0.0, -1.0}, {0.0, 1.0, 0.0}, {1.0, 0.0, 0.0}},
    {{0.0, 1.0, 0.0}, {0.0, 0.0, 1.0}, {1.0, 0.0, 0.0}},
    {{0.0, -1.0, 0.0}, {1.0, 0.0, 0.0}, {0.0, 0.0, 1.0}},
    {{0.0, 0.0, -1.0}, {1.0, 0.0, 0.0}, {0.0, -1.0, 0.0}},
    {{0.0, 0.0, 1.0}, {1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}},
    {{0.0, 1.0, 0.0}, {1.0, 0.0, 0.0}, {0.0, 0.0, -1.0}},
    {{1.0, 0.0, 0.0}, {0.0, -1.0, 0.0}, {0.0, 0.0, -1.0}},
    {{1.0, 0.0, 0.0}, {0.0, 0.0, 1.0}, {0.0, -1.0, 0.0}},
    {{1.0, 0.0, 0.0}, {0.0, 0.0, -1.0}, {0.0, 1.0, 0.0}},
}

Definition at line 2342 of file math_rotation.c.

Referenced by mat3_from_axis_conversion().

◆ rotOrders

const 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 1612 of file math_rotation.c.

Referenced by get_rotation_order_info().

Classes

Macros

Typedefs

Functions

Variables

Macro Definition Documentation

◆ EULER_HYPOT_EPSILON

◆ QUAT_EPSILON

Typedef Documentation

◆ RotOrderInfo

Function Documentation

◆ _axis_signed()

◆ add_eul_euleul()

◆ add_qt_qtqt()

◆ add_weighted_dq_dq()

◆ add_weighted_dq_dq_pivot()

◆ angle_compat_rad()

◆ angle_normalized_qt()

◆ angle_normalized_qtqt()

◆ angle_qt()

◆ angle_qtqt()

◆ angle_signed_normalized_qt()

◆ angle_signed_normalized_qtqt()

◆ angle_signed_qt()

◆ angle_signed_qtqt()

◆ angle_to_mat2()

◆ angle_wrap_deg()

◆ angle_wrap_rad()

◆ axis_angle_normalized_to_mat3()

◆ axis_angle_normalized_to_mat3_ex()

◆ axis_angle_normalized_to_quat()

◆ axis_angle_to_eulO()

◆ axis_angle_to_mat3()

◆ axis_angle_to_mat3_single()

◆ axis_angle_to_mat4()

◆ axis_angle_to_mat4_single()

◆ axis_angle_to_quat()

◆ axis_angle_to_quat_single()

◆ compatible_eul()

◆ conjugate_qt()

◆ conjugate_qt_qt()

◆ copy_dq_dq()

◆ copy_qt_qt()

◆ dot_qtqt()

◆ dquat_to_mat4()

◆ eul_to_mat3()

◆ eul_to_mat4()

◆ eul_to_quat()

◆ eulO_to_axis_angle()

◆ eulO_to_gimbal_axis()

◆ eulO_to_mat3()

◆ eulO_to_mat4()

◆ eulO_to_quat()

◆ expmap_to_quat()

◆ focallength_to_fov()

◆ fov_to_focallength()

◆ get_rotation_order_info()

◆ interp_dot_slerp()

◆ interp_qt_qtqt()

◆ invert_qt()

◆ invert_qt_normalized()

◆ invert_qt_qt()

◆ invert_qt_qt_normalized()

◆ is_zero_qt()

◆ mat3_from_axis_conversion()

◆ mat3_from_axis_conversion_single()

◆ mat3_normalized_to_axis_angle()

◆ mat3_normalized_to_compatible_eul()

◆ mat3_normalized_to_compatible_eulO()

◆ mat3_normalized_to_eul()

◆ mat3_normalized_to_eul2()

◆ mat3_normalized_to_eulO()

◆ mat3_normalized_to_eulo2()

◆ mat3_normalized_to_quat()

◆ mat3_normalized_to_quat_fast()

◆ mat3_normalized_to_quat_with_checks()

◆ mat3_to_axis_angle()

◆ mat3_to_compatible_eul()

◆ mat3_to_compatible_eulO()

◆ mat3_to_eul()