PyObject* PyObjectFrom(const MT_Quaternion &qrot)
{
/* NOTE, were re-ordering here for Mathutils compat */
float fvec[4];
qrot.getValue(fvec);
return Quaternion_CreatePyObject(fvec, Py_NEW, NULL);
}
static PyObject *quat_mul_float(QuaternionObject *quat, const float scalar)
{
float tquat[4];
copy_qt_qt(tquat, quat->quat);
mul_qt_fl(tquat, scalar);
return Quaternion_CreatePyObject(tquat, Py_NEW, Py_TYPE(quat));
}
/* subtraction */
static PyObject *Quaternion_sub(PyObject *q1, PyObject *q2)
{
int x;
float quat[QUAT_SIZE];
QuaternionObject *quat1 = NULL, *quat2 = NULL;
if (!QuaternionObject_Check(q1) || !QuaternionObject_Check(q2)) {
PyErr_Format(PyExc_TypeError,
"Quaternion subtraction: (%s - %s) "
"invalid type for this operation",
Py_TYPE(q1)->tp_name, Py_TYPE(q2)->tp_name);
return NULL;
}
quat1 = (QuaternionObject *)q1;
quat2 = (QuaternionObject *)q2;
if (BaseMath_ReadCallback(quat1) == -1 || BaseMath_ReadCallback(quat2) == -1)
return NULL;
for (x = 0; x < QUAT_SIZE; x++) {
quat[x] = quat1->quat[x] - quat2->quat[x];
}
return Quaternion_CreatePyObject(quat, Py_NEW, Py_TYPE(q1));
}
static PyObject *Quaternion_copy(QuaternionObject *self)
{
if (BaseMath_ReadCallback(self) == -1)
return NULL;
return Quaternion_CreatePyObject(self->quat, Py_NEW, Py_TYPE(self));
}
static PyObject *Quaternion_slerp(QuaternionObject *self, PyObject *args)
{
PyObject *value;
float tquat[QUAT_SIZE], quat[QUAT_SIZE], fac;
if (!PyArg_ParseTuple(args, "Of:slerp", &value, &fac)) {
PyErr_SetString(PyExc_TypeError,
"quat.slerp(): "
"expected Quaternion types and float");
return NULL;
}
if (BaseMath_ReadCallback(self) == -1)
return NULL;
if (mathutils_array_parse(tquat, QUAT_SIZE, QUAT_SIZE, value,
"Quaternion.slerp(other), invalid 'other' arg") == -1)
{
return NULL;
}
if (fac > 1.0f || fac < 0.0f) {
PyErr_SetString(PyExc_ValueError,
"quat.slerp(): "
"interpolation factor must be between 0.0 and 1.0");
return NULL;
}
interp_qt_qtqt(quat, self->quat, tquat, fac);
return Quaternion_CreatePyObject(quat, Py_NEW, Py_TYPE(self));
}
/* -obj
* returns the negative of this object*/
static PyObject *Quaternion_neg(QuaternionObject *self)
{
float tquat[QUAT_SIZE];
if (BaseMath_ReadCallback(self) == -1)
return NULL;
negate_v4_v4(tquat, self->quat);
return Quaternion_CreatePyObject(tquat, Py_NEW, Py_TYPE(self));
}
static PyObject *Euler_to_quaternion(EulerObject *self)
{
float quat[4];
if (BaseMath_ReadCallback(self) == -1)
return NULL;
eulO_to_quat(quat, self->eul, self->order);
return Quaternion_CreatePyObject(quat, Py_NEW, NULL);
}
PyObject *Quaternion_CreatePyObject_cb(PyObject *cb_user,
unsigned char cb_type, unsigned char cb_subtype)
{
QuaternionObject *self = (QuaternionObject *)Quaternion_CreatePyObject(NULL, Py_NEW, NULL);
if (self) {
Py_INCREF(cb_user);
self->cb_user = cb_user;
self->cb_type = cb_type;
self->cb_subtype = cb_subtype;
PyObject_GC_Track(self);
}
return (PyObject *)self;
}
static PyObject *Quaternion_cross(QuaternionObject *self, PyObject *value)
{
float quat[QUAT_SIZE], tquat[QUAT_SIZE];
if (BaseMath_ReadCallback(self) == -1)
return NULL;
if (mathutils_array_parse(tquat, QUAT_SIZE, QUAT_SIZE, value,
"Quaternion.cross(other), invalid 'other' arg") == -1) {
return NULL;
}
mul_qt_qtqt(quat, self->quat, tquat);
return Quaternion_CreatePyObject(quat, Py_NEW, Py_TYPE(self));
}
static PyObject *Quaternion_rotation_difference(QuaternionObject *self, PyObject *value)
{
float tquat[QUAT_SIZE], quat[QUAT_SIZE];
if (BaseMath_ReadCallback(self) == -1)
return NULL;
if (mathutils_array_parse(tquat, QUAT_SIZE, QUAT_SIZE, value,
"Quaternion.difference(other), invalid 'other' arg") == -1)
{
return NULL;
}
rotation_between_quats_to_quat(quat, self->quat, tquat);
return Quaternion_CreatePyObject(quat, Py_NEW, Py_TYPE(self));
}
//------------------------NUMERIC PROTOCOLS----------------------
//------------------------obj + obj------------------------------
//addition
static PyObject *Quaternion_add(PyObject *q1, PyObject *q2)
{
float quat[QUAT_SIZE];
QuaternionObject *quat1 = NULL, *quat2 = NULL;
if (!QuaternionObject_Check(q1) || !QuaternionObject_Check(q2)) {
PyErr_Format(PyExc_TypeError,
"Quaternion addition: (%s + %s) "
"invalid type for this operation",
Py_TYPE(q1)->tp_name, Py_TYPE(q2)->tp_name);
return NULL;
}
quat1 = (QuaternionObject *)q1;
quat2 = (QuaternionObject *)q2;
if (BaseMath_ReadCallback(quat1) == -1 || BaseMath_ReadCallback(quat2) == -1)
return NULL;
add_qt_qtqt(quat, quat1->quat, quat2->quat, 1.0f);
return Quaternion_CreatePyObject(quat, Py_NEW, Py_TYPE(q1));
}
/* ----------------------------------mathutils.Quaternion() -------------- */
static PyObject *Quaternion_new(PyTypeObject *type, PyObject *args, PyObject *kwds)
{
PyObject *seq = NULL;
double angle = 0.0f;
float quat[QUAT_SIZE] = {0.0f, 0.0f, 0.0f, 0.0f};
if (kwds && PyDict_Size(kwds)) {
PyErr_SetString(PyExc_TypeError,
"mathutils.Quaternion(): "
"takes no keyword args");
return NULL;
}
if (!PyArg_ParseTuple(args, "|Od:mathutils.Quaternion", &seq, &angle))
return NULL;
switch (PyTuple_GET_SIZE(args)) {
case 0:
break;
case 1:
if (mathutils_array_parse(quat, QUAT_SIZE, QUAT_SIZE, seq, "mathutils.Quaternion()") == -1)
return NULL;
break;
case 2:
{
float axis[3];
if (mathutils_array_parse(axis, 3, 3, seq, "mathutils.Quaternion()") == -1)
return NULL;
angle = angle_wrap_rad(angle); /* clamp because of precision issues */
axis_angle_to_quat(quat, axis, angle);
break;
/* PyArg_ParseTuple assures no more than 2 */
}
}
return Quaternion_CreatePyObject(quat, Py_NEW, type);
}
//------------------------obj * obj------------------------------
//mulplication
static PyObject *Quaternion_mul(PyObject *q1, PyObject *q2)
{
float quat[QUAT_SIZE], scalar;
QuaternionObject *quat1 = NULL, *quat2 = NULL;
if (QuaternionObject_Check(q1)) {
quat1 = (QuaternionObject *)q1;
if (BaseMath_ReadCallback(quat1) == -1)
return NULL;
}
if (QuaternionObject_Check(q2)) {
quat2 = (QuaternionObject *)q2;
if (BaseMath_ReadCallback(quat2) == -1)
return NULL;
}
if (quat1 && quat2) { /* QUAT * QUAT (cross product) */
mul_qt_qtqt(quat, quat1->quat, quat2->quat);
return Quaternion_CreatePyObject(quat, Py_NEW, Py_TYPE(q1));
}
/* the only case this can happen (for a supported type is "FLOAT * QUAT") */
else if (quat2) { /* FLOAT * QUAT */
if (((scalar = PyFloat_AsDouble(q1)) == -1.0f && PyErr_Occurred()) == 0) {
return quat_mul_float(quat2, scalar);
}
}
else if (quat1) {
/* QUAT * VEC */
if (VectorObject_Check(q2)) {
VectorObject *vec2 = (VectorObject *)q2;
float tvec[3];
if (vec2->size != 3) {
PyErr_SetString(PyExc_ValueError,
"Vector multiplication: "
"only 3D vector rotations (with quats) "
"currently supported");
return NULL;
}
if (BaseMath_ReadCallback(vec2) == -1) {
return NULL;
}
copy_v3_v3(tvec, vec2->vec);
mul_qt_v3(quat1->quat, tvec);
return Vector_CreatePyObject(tvec, 3, Py_NEW, Py_TYPE(vec2));
}
/* QUAT * FLOAT */
else if ((((scalar = PyFloat_AsDouble(q2)) == -1.0f && PyErr_Occurred()) == 0)) {
return quat_mul_float(quat1, scalar);
}
}
else {
BLI_assert(!"internal error");
}
PyErr_Format(PyExc_TypeError,
"Quaternion multiplication: "
"not supported between '%.200s' and '%.200s' types",
Py_TYPE(q1)->tp_name, Py_TYPE(q2)->tp_name);
return NULL;
}
