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Fix T43711: dual quaternion deform bug with shearing in deform matrix. 

This also increases the tolerances in is_orthogonal / is_orthonormal functions,
which were much too low for practical purposes.
This commit is contained in:
Brecht Van Lommel 2015-05-01 16:19:06 +02:00
parent bf7098a93f
commit b6caefdaa9
Notes: blender-bot 2023-02-14 09:28:32 +01:00 
Referenced by issue #43711, Dual quaternion deform breaks on Tara rig
2 changed files with 8 additions and 6 deletions
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8
source/blender/blenlib/intern/math_matrix.c
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@ -1159,7 +1159,7 @@ bool is_orthogonal_m3(float m[3][3])
for (i = 0; i < 3; i++) {
for (j = 0; j < i; j++) {
if (fabsf(dot_v3v3(m[i], m[j])) > 1.5f * FLT_EPSILON)
if (fabsf(dot_v3v3(m[i], m[j])) > 1e-5f)
return false;
}
}
@ -1173,7 +1173,7 @@ bool is_orthogonal_m4(float m[4][4])
for (i = 0; i < 4; i++) {
for (j = 0; j < i; j++) {
if (fabsf(dot_v4v4(m[i], m[j])) > 1.5f * FLT_EPSILON)
if (fabsf(dot_v4v4(m[i], m[j])) > 1e-5f)
return false;
}
@ -1188,7 +1188,7 @@ bool is_orthonormal_m3(float m[3][3])
int i;
for (i = 0; i < 3; i++)
if (fabsf(dot_v3v3(m[i], m[i]) - 1) > 1.5f * FLT_EPSILON)
if (fabsf(dot_v3v3(m[i], m[i]) - 1) > 1e-5f)
return false;
return true;
@ -1203,7 +1203,7 @@ bool is_orthonormal_m4(float m[4][4])
int i;
for (i = 0; i < 4; i++)
if (fabsf(dot_v4v4(m[i], m[i]) - 1) > 1.5f * FLT_EPSILON)
if (fabsf(dot_v4v4(m[i], m[i]) - 1) > 1e-5f)
return false;
return true;

6
source/blender/blenlib/intern/math_rotation.c
View File

@ -1616,7 +1616,7 @@ void eulO_to_gimbal_axis(float gmat[3][3], const float eul[3], const short order
void mat4_to_dquat(DualQuat *dq, float basemat[4][4], float mat[4][4])
{
float *t, *q, dscale[3], scale[3], basequat[4];
float *t, *q, dscale[3], scale[3], basequat[4], mat3[3][3];
float baseRS[4][4], baseinv[4][4], baseR[4][4], baseRinv[4][4];
float R[4][4], S[4][4];
@ -1629,7 +1629,9 @@ void mat4_to_dquat(DualQuat *dq, float basemat[4][4], float mat[4][4])
dscale[1] = scale[1] - 1.0f;
dscale[2] = scale[2] - 1.0f;
if ((determinant_m4(mat) < 0.0f) || len_v3(dscale) > 1e-4f) {
copy_m3_m4(mat3, mat);
if (!is_orthonormal_m3(mat3) || (determinant_m4(mat) < 0.0f) || len_v3(dscale) > 1e-4f) {
/* extract R and S */
float tmp[4][4];