Differential D8048 Diff 25984 source/blender/blenlib/intern/math_matrix.c

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Show First 20 Lines • Show All 2,382 Lines • ▼ Show 20 Lines	void interp_m3_m3m3(float R[3][3], const float A[3][3], const float B[3][3], const float t)
* linearly interpolated. */		* linearly interpolated. */
float P_A[3][3], P_B[3][3], P[3][3];		float P_A[3][3], P_B[3][3], P[3][3];

int i;		int i;

mat3_polar_decompose(A, U_A, P_A);		mat3_polar_decompose(A, U_A, P_A);
mat3_polar_decompose(B, U_B, P_B);		mat3_polar_decompose(B, U_B, P_B);

		/* Quaterions cannot represent an axis flip. If such a singularity is detected, choose a
		* different decomposition of the matrix that still satisfies A = U_A * P_A but which has a
		* positive determinant and thus no axis flips. This resolves T77154.
		*
		* Note that a flip of two axes is just a rotation of 180 degrees around the third axis, and
		* three flipped axes are just an 180 degree rotation + a single axis flip. It is thus sufficient
		* to solve this problem for single axis flips. */
		if (determinant_m3_array(U_A) < 0) {
		mul_m3_fl(U_A, -1.0f);
		mul_m3_fl(P_A, -1.0f);
		}
		if (determinant_m3_array(U_B) < 0) {
		mul_m3_fl(U_B, -1.0f);
		mul_m3_fl(P_B, -1.0f);
		}

mat3_to_quat(quat_A, U_A);		mat3_to_quat(quat_A, U_A);
mat3_to_quat(quat_B, U_B);		mat3_to_quat(quat_B, U_B);
interp_qt_qtqt(quat, quat_A, quat_B, t);		interp_qt_qtqt(quat, quat_A, quat_B, t);
quat_to_mat3(U, quat);		quat_to_mat3(U, quat);

for (i = 0; i < 3; i++) {		for (i = 0; i < 3; i++) {
interp_v3_v3v3(P[i], P_A[i], P_B[i], t);		interp_v3_v3v3(P[i], P_A[i], P_B[i], t);
}		}
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