1
2//
3// This source file is part of appleseed.
4// Visit http://appleseedhq.net/ for additional information and resources.
5//
6// This software is released under the MIT license.
7//
8// Copyright (c) 2012-2013 Esteban Tovagliari, Jupiter Jazz Limited
9// Copyright (c) 2014-2017 Esteban Tovagliari, The appleseedhq Organization
10//
11// Permission is hereby granted, free of charge, to any person obtaining a copy
12// of this software and associated documentation files (the "Software"), to deal
13// in the Software without restriction, including without limitation the rights
14// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
15// copies of the Software, and to permit persons to whom the Software is
16// furnished to do so, subject to the following conditions:
17//
18// The above copyright notice and this permission notice shall be included in
19// all copies or substantial portions of the Software.
20//
21// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
22// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
23// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
24// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
25// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
26// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
27// THE SOFTWARE.
28//
29
30// appleseed.python headers.
31#include "pyseed.h" // has to be first, to avoid redefinition warnings
32
33// appleseed.foundation headers.
34#include "foundation/math/quaternion.h"
35#include "foundation/utility/iostreamop.h"
36
37namespace bpy = boost::python;
38using namespace foundation;
39
40namespace
41{
42 template <typename T>
43 T quat_dot_prod(const Quaternion<T>& a, const Quaternion<T>& b)
44 {
45 return dot(a, b);
46 }
47
48 template <typename T>
49 bpy::tuple quat_extract_axis_angle(const Quaternion<T>& q)
50 {
51 Vector<T, 3> axis;
52 T angle;
53
54 q.extract_axis_angle(axis, angle);
55 return bpy::make_tuple(axis, angle);
56 }
57
58 template <typename T>
59 Quaternion<T> quat_conjugate(const Quaternion<T>& q)
60 {
61 return conjugate(q);
62 }
63
64 template <typename T>
65 Quaternion<T> quat_inverse(const Quaternion<T>& q)
66 {
67 return inverse(q);
68 }
69
70 template <typename T>
71 T quat_square_norm(const Quaternion<T>& q)
72 {
73 return square_norm(q);
74 }
75
76 template <typename T>
77 T quat_norm(const Quaternion<T>& q)
78 {
79 return norm(q);
80 }
81
82 template <typename T>
83 Quaternion<T> quat_normalize(const Quaternion<T>& q)
84 {
85 return normalize(q);
86 }
87
88 template <typename T>
89 bool quat_is_normalized(const Quaternion<T>& q)
90 {
91 return is_normalized(q);
92 }
93
94 template <typename T>
95 bool quat_is_normalized_with_eps(const Quaternion<T>& q, const T eps)
96 {
97 return is_normalized(q, eps);
98 }
99
100 template <typename T>
101 Quaternion<T> quat_slerp(const Quaternion<T>& p, const Quaternion<T>& q, const T t)
102 {
103 return slerp(p, q, t);
104 }
105
106 template <typename T>
107 void do_bind_quaternion(const char* class_name)
108 {
109 Quaternion<T>(*rot1)(const Vector<T, 3>&, T) = &Quaternion<T>::make_rotation;
110 Quaternion<T>(*rot2)(const Vector<T, 3>&, const Vector<T, 3>&) = &Quaternion<T>::make_rotation;
111
112 bpy::class_<Quaternion<T> >(class_name)
113 .def("make_identity", &Quaternion<T>::make_identity).staticmethod("make_identity")
114 .def("make_rotation", rot1).def("make_rotation", rot2).staticmethod("make_rotation")
115
116 .def(bpy::init<>())
117 .def(bpy::init<T, Vector<T, 3> >())
118
119 .def_readwrite("s", &Quaternion<T>::s)
120 .def_readwrite("v", &Quaternion<T>::v)
121
122 // Operators.
123 .def(bpy::self + bpy::self)
124 .def(bpy::self - bpy::self)
125 .def(-bpy::self)
126 .def(bpy::self * T())
127 .def(T() * bpy::self)
128 .def(bpy::self / T())
129 .def(bpy::self += bpy::self)
130 .def(bpy::self -= bpy::self)
131 .def(bpy::self *= T())
132 .def(bpy::self /= T())
133 .def(bpy::self * bpy::self)
134 .def(bpy::self *= bpy::self)
135
136 // Because of a bug in Boost.Python, this needs the extra self_ns qualification.
137 .def(bpy::self_ns::str(bpy::self))
138 .def(bpy::self_ns::repr(bpy::self))
139
140 .def("dot", &quat_dot_prod<T>)
141 .def("extract_axis_angle", &quat_extract_axis_angle<T>)
142
143 .def("conjugate", &quat_conjugate<T>)
144 .def("inverse", &quat_inverse<T>)
145 .def("square_norm", &quat_square_norm<T>)
146 .def("norm", &quat_norm<T>)
147 .def("normalize", &quat_normalize<T>)
148 .def("is_normalized", &quat_is_normalized<T>)
149 .def("is_normalized", &quat_is_normalized_with_eps<T>)
150 .def("slerp", &quat_slerp<T>);
151 }
152}
153
154void bind_quaternion()
155{
156 do_bind_quaternion<float>("Quaternionf");
157 do_bind_quaternion<double>("Quaterniond");
158
159#ifdef APPLESEED_ENABLE_IMATH_INTEROP
160 bpy::implicitly_convertible<Quaternionf, Imath::Quatf>();
161 bpy::implicitly_convertible<Imath::Quatf, Quaternionf>();
162
163 bpy::implicitly_convertible<Quaterniond, Imath::Quatd>();
164 bpy::implicitly_convertible<Imath::Quatd, Quaterniond>();
165#endif
166}
167