static PyObject *Euler_rotate(EulerObject * self, PyObject *value)
{
float self_rmat[3][3], other_rmat[3][3], rmat[3][3];
if(!BaseMath_ReadCallback(self))
return NULL;
if(mathutils_any_to_rotmat(other_rmat, value, "euler.rotate(value)") == -1)
return NULL;
eulO_to_mat3(self_rmat, self->eul, self->order);
mul_m3_m3m3(rmat, self_rmat, other_rmat);
mat3_to_compatible_eulO(self->eul, self->eul, self->order, rmat);
(void)BaseMath_WriteCallback(self);
Py_RETURN_NONE;
}
static PyObject *Quaternion_rotate(QuaternionObject *self, PyObject *value)
{
float self_rmat[3][3], other_rmat[3][3], rmat[3][3];
float tquat[4], length;
if (BaseMath_ReadCallback(self) == -1)
return NULL;
if (mathutils_any_to_rotmat(other_rmat, value, "Quaternion.rotate(value)") == -1)
return NULL;
length = normalize_qt_qt(tquat, self->quat);
quat_to_mat3(self_rmat, tquat);
mul_m3_m3m3(rmat, other_rmat, self_rmat);
mat3_to_quat(self->quat, rmat);
mul_qt_fl(self->quat, length); /* maintain length after rotating */
(void)BaseMath_WriteCallback(self);
Py_RETURN_NONE;
}