static PyObject *Quaternion_to_euler(QuaternionObject *self, PyObject *args)
{
float tquat[4];
float eul[3];
const char *order_str = NULL;
short order = EULER_ORDER_XYZ;
EulerObject *eul_compat = NULL;
if (!PyArg_ParseTuple(args, "|sO!:to_euler", &order_str, &euler_Type, &eul_compat))
return NULL;
if (BaseMath_ReadCallback(self) == -1)
return NULL;
if (order_str) {
order = euler_order_from_string(order_str, "Matrix.to_euler()");
if (order == -1)
return NULL;
}
normalize_qt_qt(tquat, self->quat);
if (eul_compat) {
float mat[3][3];
if (BaseMath_ReadCallback(eul_compat) == -1)
return NULL;
quat_to_mat3(mat, tquat);
if (order == EULER_ORDER_XYZ) mat3_to_compatible_eul(eul, eul_compat->eul, mat);
else mat3_to_compatible_eulO(eul, eul_compat->eul, order, mat);
}
else {
if (order == EULER_ORDER_XYZ) quat_to_eul(eul, tquat);
else quat_to_eulO(eul, order, tquat);
}
return Euler_CreatePyObject(eul, order, Py_NEW, NULL);
}
int BL_ArmatureChannel::py_attr_set_joint_rotation(void *self_v, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
BL_ArmatureChannel* self= static_cast<BL_ArmatureChannel*>(self_v);
bPoseChannel* pchan = self->m_posechannel;
PyObject *item;
float joints[3];
float quat[4];
if (!PySequence_Check(value) || PySequence_Size(value) != 3) {
PyErr_SetString(PyExc_AttributeError, "expected a sequence of [3] floats");
return PY_SET_ATTR_FAIL;
}
for (int i=0; i<3; i++) {
item = PySequence_GetItem(value, i); /* new ref */
joints[i] = PyFloat_AsDouble(item);
Py_DECREF(item);
if (joints[i] == -1.0f && PyErr_Occurred()) {
PyErr_SetString(PyExc_AttributeError, "expected a sequence of [3] floats");
return PY_SET_ATTR_FAIL;
}
}
int flag = 0;
if (!(pchan->ikflag & BONE_IK_NO_XDOF))
flag |= 1;
if (!(pchan->ikflag & BONE_IK_NO_YDOF))
flag |= 2;
if (!(pchan->ikflag & BONE_IK_NO_ZDOF))
flag |= 4;
unit_qt(quat);
switch (flag) {
case 0: // fixed joint
break;
case 1: // X only
joints[1] = joints[2] = 0.f;
eulO_to_quat( quat,joints, EULER_ORDER_XYZ);
break;
case 2: // Y only
joints[0] = joints[2] = 0.f;
eulO_to_quat( quat,joints, EULER_ORDER_XYZ);
break;
case 3: // X+Y
joints[2] = 0.f;
eulO_to_quat( quat,joints, EULER_ORDER_ZYX);
break;
case 4: // Z only
joints[0] = joints[1] = 0.f;
eulO_to_quat( quat,joints, EULER_ORDER_XYZ);
break;
case 5: // X+Z
// X and Z are components of an equivalent rotation axis
joints[1] = 0;
axis_angle_to_quat( quat,joints, len_v3(joints));
break;
case 6: // Y+Z
joints[0] = 0.f;
eulO_to_quat( quat,joints, EULER_ORDER_XYZ);
break;
case 7: // X+Y+Z
// equivalent axis
axis_angle_to_quat( quat,joints, len_v3(joints));
break;
}
if (pchan->rotmode > 0) {
quat_to_eulO( joints, pchan->rotmode,quat);
copy_v3_v3(pchan->eul, joints);
} else
copy_qt_qt(pchan->quat, quat);
return PY_SET_ATTR_SUCCESS;
}