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; }