source/blender/python/mathutils/mathutils_Quaternion.c

   1 /*
   2  * ***** BEGIN GPL LICENSE BLOCK *****
   3  *
   4  * This program is free software; you can redistribute it and/or
   5  * modify it under the terms of the GNU General Public License
   6  * as published by the Free Software Foundation; either version 2
   7  * of the License, or (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with this program; if not, write to the Free Software Foundation,
  16  * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
  17  *
  18  * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
  19  * All rights reserved.
  20  *
  21  *
  22  * Contributor(s): Joseph Gilbert
  23  *
  24  * ***** END GPL LICENSE BLOCK *****
  25  */
  26
  27 /** \file blender/python/mathutils/mathutils_Quaternion.c
  28  *  \ingroup pymathutils
  29  */
  30
  31
  32 #include <Python.h>
  33
  34 #include "mathutils.h"
  35
  36 #include "BLI_math.h"
  37 #include "BLI_utildefines.h"
  38 #include "BLI_dynstr.h"
  39
  40 #define QUAT_SIZE 4
  41
  42 static PyObject *quat__apply_to_copy(PyNoArgsFunction quat_func, QuaternionObject *self);
  43 static void      quat__axis_angle_sanitize(float axis[3], float *angle);
  44 static PyObject *Quaternion_copy(QuaternionObject *self);
  45
  46 //-----------------------------METHODS------------------------------
  47
  48 /* note: BaseMath_ReadCallback must be called beforehand */
  49 static PyObject *Quaternion_to_tuple_ext(QuaternionObject *self, int ndigits)
  50 {
  51         PyObject *ret;
  52         int i;
  53
  54         ret = PyTuple_New(QUAT_SIZE);
  55
  56         if (ndigits >= 0) {
  57                 for (i = 0; i < QUAT_SIZE; i++) {
  58                         PyTuple_SET_ITEM(ret, i, PyFloat_FromDouble(double_round((double)self->quat[i], ndigits)));
  59                 }
  60         }
  61         else {
  62                 for (i = 0; i < QUAT_SIZE; i++) {
  63                         PyTuple_SET_ITEM(ret, i, PyFloat_FromDouble(self->quat[i]));
  64                 }
  65         }
  66
  67         return ret;
  68 }
  69
  70 PyDoc_STRVAR(Quaternion_to_euler_doc,
  71 ".. method:: to_euler(order, euler_compat)\n"
  72 "\n"
  73 "   Return Euler representation of the quaternion.\n"
  74 "\n"
  75 "   :arg order: Optional rotation order argument in\n"
  76 "      ['XYZ', 'XZY', 'YXZ', 'YZX', 'ZXY', 'ZYX'].\n"
  77 "   :type order: string\n"
  78 "   :arg euler_compat: Optional euler argument the new euler will be made\n"
  79 "      compatible with (no axis flipping between them).\n"
  80 "      Useful for converting a series of matrices to animation curves.\n"
  81 "   :type euler_compat: :class:`Euler`\n"
  82 "   :return: Euler representation of the quaternion.\n"
  83 "   :rtype: :class:`Euler`\n"
  84 );
  85 static PyObject *Quaternion_to_euler(QuaternionObject *self, PyObject *args)
  86 {
  87         float tquat[4];
  88         float eul[3];
  89         const char *order_str = NULL;
  90         short order = EULER_ORDER_XYZ;
  91         EulerObject *eul_compat = NULL;
  92
  93         if (!PyArg_ParseTuple(args, "|sO!:to_euler", &order_str, &euler_Type, &eul_compat))
  94                 return NULL;
  95
  96         if (BaseMath_ReadCallback(self) == -1)
  97                 return NULL;
  98
  99         if (order_str) {
 100                 order = euler_order_from_string(order_str, "Matrix.to_euler()");
 101
 102                 if (order == -1)
 103                         return NULL;
 104         }
 105
 106         normalize_qt_qt(tquat, self->quat);
 107
 108         if (eul_compat) {
 109                 float mat[3][3];
 110
 111                 if (BaseMath_ReadCallback(eul_compat) == -1)
 112                         return NULL;
 113
 114                 quat_to_mat3(mat, tquat);
 115
 116                 if (order == EULER_ORDER_XYZ)   mat3_to_compatible_eul(eul, eul_compat->eul, mat);
 117                 else                                                    mat3_to_compatible_eulO(eul, eul_compat->eul, order, mat);
 118         }
 119         else {
 120                 if (order == EULER_ORDER_XYZ)   quat_to_eul(eul, tquat);
 121                 else                                                    quat_to_eulO(eul, order, tquat);
 122         }
 123
 124         return Euler_CreatePyObject(eul, order, Py_NEW, NULL);
 125 }
 126 //----------------------------Quaternion.toMatrix()------------------
 127 PyDoc_STRVAR(Quaternion_to_matrix_doc,
 128 ".. method:: to_matrix()\n"
 129 "\n"
 130 "   Return a matrix representation of the quaternion.\n"
 131 "\n"
 132 "   :return: A 3x3 rotation matrix representation of the quaternion.\n"
 133 "   :rtype: :class:`Matrix`\n"
 134 );
 135 static PyObject *Quaternion_to_matrix(QuaternionObject *self)
 136 {
 137         float mat[9]; /* all values are set */
 138
 139         if (BaseMath_ReadCallback(self) == -1)
 140                 return NULL;
 141
 142         quat_to_mat3((float (*)[3])mat, self->quat);
 143         return Matrix_CreatePyObject(mat, 3, 3, Py_NEW, NULL);
 144 }
 145
 146 //----------------------------Quaternion.toMatrix()------------------
 147 PyDoc_STRVAR(Quaternion_to_axis_angle_doc,
 148 ".. method:: to_axis_angle()\n"
 149 "\n"
 150 "   Return the axis, angle representation of the quaternion.\n"
 151 "\n"
 152 "   :return: axis, angle.\n"
 153 "   :rtype: (:class:`Vector`, float) pair\n"
 154 );
 155 static PyObject *Quaternion_to_axis_angle(QuaternionObject *self)
 156 {
 157         PyObject *ret;
 158
 159         float tquat[4];
 160
 161         float axis[3];
 162         float angle;
 163
 164         if (BaseMath_ReadCallback(self) == -1)
 165                 return NULL;
 166
 167         normalize_qt_qt(tquat, self->quat);
 168         quat_to_axis_angle(axis, &angle, tquat);
 169
 170         quat__axis_angle_sanitize(axis, &angle);
 171
 172         ret = PyTuple_New(2);
 173         PyTuple_SET_ITEM(ret, 0, Vector_CreatePyObject(axis, 3, Py_NEW, NULL));
 174         PyTuple_SET_ITEM(ret, 1, PyFloat_FromDouble(angle));
 175         return ret;
 176 }
 177
 178
 179 //----------------------------Quaternion.cross(other)------------------
 180 PyDoc_STRVAR(Quaternion_cross_doc,
 181 ".. method:: cross(other)\n"
 182 "\n"
 183 "   Return the cross product of this quaternion and another.\n"
 184 "\n"
 185 "   :arg other: The other quaternion to perform the cross product with.\n"
 186 "   :type other: :class:`Quaternion`\n"
 187 "   :return: The cross product.\n"
 188 "   :rtype: :class:`Quaternion`\n"
 189 );
 190 static PyObject *Quaternion_cross(QuaternionObject *self, PyObject *value)
 191 {
 192         float quat[QUAT_SIZE], tquat[QUAT_SIZE];
 193
 194         if (BaseMath_ReadCallback(self) == -1)
 195                 return NULL;
 196
 197         if (mathutils_array_parse(tquat, QUAT_SIZE, QUAT_SIZE, value,
 198                                   "Quaternion.cross(other), invalid 'other' arg") == -1) {
 199                 return NULL;
 200         }
 201
 202         mul_qt_qtqt(quat, self->quat, tquat);
 203         return Quaternion_CreatePyObject(quat, Py_NEW, Py_TYPE(self));
 204 }
 205
 206 //----------------------------Quaternion.dot(other)------------------
 207 PyDoc_STRVAR(Quaternion_dot_doc,
 208 ".. method:: dot(other)\n"
 209 "\n"
 210 "   Return the dot product of this quaternion and another.\n"
 211 "\n"
 212 "   :arg other: The other quaternion to perform the dot product with.\n"
 213 "   :type other: :class:`Quaternion`\n"
 214 "   :return: The dot product.\n"
 215 "   :rtype: :class:`Quaternion`\n"
 216 );
 217 static PyObject *Quaternion_dot(QuaternionObject *self, PyObject *value)
 218 {
 219         float tquat[QUAT_SIZE];
 220
 221         if (BaseMath_ReadCallback(self) == -1)
 222                 return NULL;
 223
 224         if (mathutils_array_parse(tquat, QUAT_SIZE, QUAT_SIZE, value,
 225                                   "Quaternion.dot(other), invalid 'other' arg") == -1)
 226         {
 227                 return NULL;
 228         }
 229
 230         return PyFloat_FromDouble(dot_qtqt(self->quat, tquat));
 231 }
 232
 233 PyDoc_STRVAR(Quaternion_rotation_difference_doc,
 234 ".. function:: rotation_difference(other)\n"
 235 "\n"
 236 "   Returns a quaternion representing the rotational difference.\n"
 237 "\n"
 238 "   :arg other: second quaternion.\n"
 239 "   :type other: :class:`Quaternion`\n"
 240 "   :return: the rotational difference between the two quat rotations.\n"
 241 "   :rtype: :class:`Quaternion`\n"
 242 );
 243 static PyObject *Quaternion_rotation_difference(QuaternionObject *self, PyObject *value)
 244 {
 245         float tquat[QUAT_SIZE], quat[QUAT_SIZE];
 246
 247         if (BaseMath_ReadCallback(self) == -1)
 248                 return NULL;
 249
 250         if (mathutils_array_parse(tquat, QUAT_SIZE, QUAT_SIZE, value,
 251                                   "Quaternion.difference(other), invalid 'other' arg") == -1)
 252         {
 253                 return NULL;
 254         }
 255
 256         rotation_between_quats_to_quat(quat, self->quat, tquat);
 257
 258         return Quaternion_CreatePyObject(quat, Py_NEW, Py_TYPE(self));
 259 }
 260
 261 PyDoc_STRVAR(Quaternion_slerp_doc,
 262 ".. function:: slerp(other, factor)\n"
 263 "\n"
 264 "   Returns the interpolation of two quaternions.\n"
 265 "\n"
 266 "   :arg other: value to interpolate with.\n"
 267 "   :type other: :class:`Quaternion`\n"
 268 "   :arg factor: The interpolation value in [0.0, 1.0].\n"
 269 "   :type factor: float\n"
 270 "   :return: The interpolated rotation.\n"
 271 "   :rtype: :class:`Quaternion`\n"
 272 );
 273 static PyObject *Quaternion_slerp(QuaternionObject *self, PyObject *args)
 274 {
 275         PyObject *value;
 276         float tquat[QUAT_SIZE], quat[QUAT_SIZE], fac;
 277
 278         if (!PyArg_ParseTuple(args, "Of:slerp", &value, &fac)) {
 279                 PyErr_SetString(PyExc_TypeError,
 280                                 "quat.slerp(): "
 281                                 "expected Quaternion types and float");
 282                 return NULL;
 283         }
 284
 285         if (BaseMath_ReadCallback(self) == -1)
 286                 return NULL;
 287
 288         if (mathutils_array_parse(tquat, QUAT_SIZE, QUAT_SIZE, value,
 289                                   "Quaternion.slerp(other), invalid 'other' arg") == -1)
 290         {
 291                 return NULL;
 292         }
 293
 294         if (fac > 1.0f || fac < 0.0f) {
 295                 PyErr_SetString(PyExc_ValueError,
 296                                 "quat.slerp(): "
 297                                 "interpolation factor must be between 0.0 and 1.0");
 298                 return NULL;
 299         }
 300
 301         interp_qt_qtqt(quat, self->quat, tquat, fac);
 302
 303         return Quaternion_CreatePyObject(quat, Py_NEW, Py_TYPE(self));
 304 }
 305
 306 PyDoc_STRVAR(Quaternion_rotate_doc,
 307 ".. method:: rotate(other)\n"
 308 "\n"
 309 "   Rotates the quaternion a by another mathutils value.\n"
 310 "\n"
 311 "   :arg other: rotation component of mathutils value\n"
 312 "   :type other: :class:`Euler`, :class:`Quaternion` or :class:`Matrix`\n"
 313 );
 314 static PyObject *Quaternion_rotate(QuaternionObject *self, PyObject *value)
 315 {
 316         float self_rmat[3][3], other_rmat[3][3], rmat[3][3];
 317         float tquat[4], length;
 318
 319         if (BaseMath_ReadCallback(self) == -1)
 320                 return NULL;
 321
 322         if (mathutils_any_to_rotmat(other_rmat, value, "Quaternion.rotate(value)") == -1)
 323                 return NULL;
 324
 325         length = normalize_qt_qt(tquat, self->quat);
 326         quat_to_mat3(self_rmat, tquat);
 327         mul_m3_m3m3(rmat, other_rmat, self_rmat);
 328
 329         mat3_to_quat(self->quat, rmat);
 330         mul_qt_fl(self->quat, length); /* maintain length after rotating */
 331
 332         (void)BaseMath_WriteCallback(self);
 333         Py_RETURN_NONE;
 334 }
 335
 336 //----------------------------Quaternion.normalize()----------------
 337 //normalize the axis of rotation of [theta, vector]
 338 PyDoc_STRVAR(Quaternion_normalize_doc,
 339 ".. function:: normalize()\n"
 340 "\n"
 341 "   Normalize the quaternion.\n"
 342 );
 343 static PyObject *Quaternion_normalize(QuaternionObject *self)
 344 {
 345         if (BaseMath_ReadCallback(self) == -1)
 346                 return NULL;
 347
 348         normalize_qt(self->quat);
 349
 350         (void)BaseMath_WriteCallback(self);
 351         Py_RETURN_NONE;
 352 }
 353 PyDoc_STRVAR(Quaternion_normalized_doc,
 354 ".. function:: normalized()\n"
 355 "\n"
 356 "   Return a new normalized quaternion.\n"
 357 "\n"
 358 "   :return: a normalized copy.\n"
 359 "   :rtype: :class:`Quaternion`\n"
 360 );
 361 static PyObject *Quaternion_normalized(QuaternionObject *self)
 362 {
 363         return quat__apply_to_copy((PyNoArgsFunction)Quaternion_normalize, self);
 364 }
 365
 366 //----------------------------Quaternion.invert()------------------
 367 PyDoc_STRVAR(Quaternion_invert_doc,
 368 ".. function:: invert()\n"
 369 "\n"
 370 "   Set the quaternion to its inverse.\n"
 371 );
 372 static PyObject *Quaternion_invert(QuaternionObject *self)
 373 {
 374         if (BaseMath_ReadCallback(self) == -1)
 375                 return NULL;
 376
 377         invert_qt(self->quat);
 378
 379         (void)BaseMath_WriteCallback(self);
 380         Py_RETURN_NONE;
 381 }
 382 PyDoc_STRVAR(Quaternion_inverted_doc,
 383 ".. function:: inverted()\n"
 384 "\n"
 385 "   Return a new, inverted quaternion.\n"
 386 "\n"
 387 "   :return: the inverted value.\n"
 388 "   :rtype: :class:`Quaternion`\n"
 389 );
 390 static PyObject *Quaternion_inverted(QuaternionObject *self)
 391 {
 392         return quat__apply_to_copy((PyNoArgsFunction)Quaternion_invert, self);
 393 }
 394
 395 //----------------------------Quaternion.identity()-----------------
 396 PyDoc_STRVAR(Quaternion_identity_doc,
 397 ".. function:: identity()\n"
 398 "\n"
 399 "   Set the quaternion to an identity quaternion.\n"
 400 "\n"
 401 "   :return: an instance of itself.\n"
 402 "   :rtype: :class:`Quaternion`\n"
 403 );
 404 static PyObject *Quaternion_identity(QuaternionObject *self)
 405 {
 406         if (BaseMath_ReadCallback(self) == -1)
 407                 return NULL;
 408
 409         unit_qt(self->quat);
 410
 411         (void)BaseMath_WriteCallback(self);
 412         Py_RETURN_NONE;
 413 }
 414 //----------------------------Quaternion.negate()-------------------
 415 PyDoc_STRVAR(Quaternion_negate_doc,
 416 ".. function:: negate()\n"
 417 "\n"
 418 "   Set the quaternion to its negative.\n"
 419 "\n"
 420 "   :return: an instance of itself.\n"
 421 "   :rtype: :class:`Quaternion`\n"
 422 );
 423 static PyObject *Quaternion_negate(QuaternionObject *self)
 424 {
 425         if (BaseMath_ReadCallback(self) == -1)
 426                 return NULL;
 427
 428         mul_qt_fl(self->quat, -1.0f);
 429
 430         (void)BaseMath_WriteCallback(self);
 431         Py_RETURN_NONE;
 432 }
 433 //----------------------------Quaternion.conjugate()----------------
 434 PyDoc_STRVAR(Quaternion_conjugate_doc,
 435 ".. function:: conjugate()\n"
 436 "\n"
 437 "   Set the quaternion to its conjugate (negate x, y, z).\n"
 438 );
 439 static PyObject *Quaternion_conjugate(QuaternionObject *self)
 440 {
 441         if (BaseMath_ReadCallback(self) == -1)
 442                 return NULL;
 443
 444         conjugate_qt(self->quat);
 445
 446         (void)BaseMath_WriteCallback(self);
 447         Py_RETURN_NONE;
 448 }
 449 PyDoc_STRVAR(Quaternion_conjugated_doc,
 450 ".. function:: conjugated()\n"
 451 "\n"
 452 "   Return a new conjugated quaternion.\n"
 453 "\n"
 454 "   :return: a new quaternion.\n"
 455 "   :rtype: :class:`Quaternion`\n"
 456 );
 457 static PyObject *Quaternion_conjugated(QuaternionObject *self)
 458 {
 459         return quat__apply_to_copy((PyNoArgsFunction)Quaternion_conjugate, self);
 460 }
 461
 462 //----------------------------Quaternion.copy()----------------
 463 PyDoc_STRVAR(Quaternion_copy_doc,
 464 ".. function:: copy()\n"
 465 "\n"
 466 "   Returns a copy of this quaternion.\n"
 467 "\n"
 468 "   :return: A copy of the quaternion.\n"
 469 "   :rtype: :class:`Quaternion`\n"
 470 "\n"
 471 "   .. note:: use this to get a copy of a wrapped quaternion with\n"
 472 "      no reference to the original data.\n"
 473 );
 474 static PyObject *Quaternion_copy(QuaternionObject *self)
 475 {
 476         if (BaseMath_ReadCallback(self) == -1)
 477                 return NULL;
 478
 479         return Quaternion_CreatePyObject(self->quat, Py_NEW, Py_TYPE(self));
 480 }
 481
 482 //----------------------------print object (internal)--------------
 483 //print the object to screen
 484 static PyObject *Quaternion_repr(QuaternionObject *self)
 485 {
 486         PyObject *ret, *tuple;
 487
 488         if (BaseMath_ReadCallback(self) == -1)
 489                 return NULL;
 490
 491         tuple = Quaternion_to_tuple_ext(self, -1);
 492
 493         ret = PyUnicode_FromFormat("Quaternion(%R)", tuple);
 494
 495         Py_DECREF(tuple);
 496         return ret;
 497 }
 498
 499 static PyObject *Quaternion_str(QuaternionObject *self)
 500 {
 501         DynStr *ds;
 502
 503         if (BaseMath_ReadCallback(self) == -1)
 504                 return NULL;
 505
 506         ds = BLI_dynstr_new();
 507
 508         BLI_dynstr_appendf(ds, "<Quaternion (w=%.4f, x=%.4f, y=%.4f, z=%.4f)>",
 509                            self->quat[0], self->quat[1], self->quat[2], self->quat[3]);
 510
 511         return mathutils_dynstr_to_py(ds); /* frees ds */
 512 }
 513
 514 static PyObject *Quaternion_richcmpr(PyObject *a, PyObject *b, int op)
 515 {
 516         PyObject *res;
 517         int ok = -1; /* zero is true */
 518
 519         if (QuaternionObject_Check(a) && QuaternionObject_Check(b)) {
 520                 QuaternionObject *quatA = (QuaternionObject *)a;
 521                 QuaternionObject *quatB = (QuaternionObject *)b;
 522
 523                 if (BaseMath_ReadCallback(quatA) == -1 || BaseMath_ReadCallback(quatB) == -1)
 524                         return NULL;
 525
 526                 ok = (EXPP_VectorsAreEqual(quatA->quat, quatB->quat, QUAT_SIZE, 1)) ? 0 : -1;
 527         }
 528
 529         switch (op) {
 530         case Py_NE:
 531                 ok = !ok; /* pass through */
 532         case Py_EQ:
 533                 res = ok ? Py_False : Py_True;
 534                 break;
 535
 536         case Py_LT:
 537         case Py_LE:
 538         case Py_GT:
 539         case Py_GE:
 540                 res = Py_NotImplemented;
 541                 break;
 542         default:
 543                 PyErr_BadArgument();
 544                 return NULL;
 545         }
 546
 547         return Py_INCREF(res), res;
 548 }
 549
 550 //---------------------SEQUENCE PROTOCOLS------------------------
 551 //----------------------------len(object)------------------------
 552 //sequence length
 553 static int Quaternion_len(QuaternionObject *UNUSED(self))
 554 {
 555         return QUAT_SIZE;
 556 }
 557 //----------------------------object[]---------------------------
 558 //sequence accessor (get)
 559 static PyObject *Quaternion_item(QuaternionObject *self, int i)
 560 {
 561         if (i < 0)      i = QUAT_SIZE-i;
 562
 563         if (i < 0 || i >= QUAT_SIZE) {
 564                 PyErr_SetString(PyExc_IndexError,
 565                                 "quaternion[attribute]: "
 566                                 "array index out of range");
 567                 return NULL;
 568         }
 569
 570         if (BaseMath_ReadIndexCallback(self, i) == -1)
 571                 return NULL;
 572
 573         return PyFloat_FromDouble(self->quat[i]);
 574
 575 }
 576 //----------------------------object[]-------------------------
 577 //sequence accessor (set)
 578 static int Quaternion_ass_item(QuaternionObject *self, int i, PyObject *ob)
 579 {
 580         float scalar = (float)PyFloat_AsDouble(ob);
 581         if (scalar == -1.0f && PyErr_Occurred()) { /* parsed item not a number */
 582                 PyErr_SetString(PyExc_TypeError,
 583                                 "quaternion[index] = x: "
 584                                 "index argument not a number");
 585                 return -1;
 586         }
 587
 588         if (i < 0)      i = QUAT_SIZE-i;
 589
 590         if (i < 0 || i >= QUAT_SIZE) {
 591                 PyErr_SetString(PyExc_IndexError,
 592                                 "quaternion[attribute] = x: "
 593                                 "array assignment index out of range");
 594                 return -1;
 595         }
 596         self->quat[i] = scalar;
 597
 598         if (BaseMath_WriteIndexCallback(self, i) == -1)
 599                 return -1;
 600
 601         return 0;
 602 }
 603 //----------------------------object[z:y]------------------------
 604 //sequence slice (get)
 605 static PyObject *Quaternion_slice(QuaternionObject *self, int begin, int end)
 606 {
 607         PyObject *tuple;
 608         int count;
 609
 610         if (BaseMath_ReadCallback(self) == -1)
 611                 return NULL;
 612
 613         CLAMP(begin, 0, QUAT_SIZE);
 614         if (end < 0) end = (QUAT_SIZE + 1) + end;
 615         CLAMP(end, 0, QUAT_SIZE);
 616         begin = MIN2(begin, end);
 617
 618         tuple = PyTuple_New(end - begin);
 619         for (count = begin; count < end; count++) {
 620                 PyTuple_SET_ITEM(tuple, count - begin, PyFloat_FromDouble(self->quat[count]));
 621         }
 622
 623         return tuple;
 624 }
 625 //----------------------------object[z:y]------------------------
 626 //sequence slice (set)
 627 static int Quaternion_ass_slice(QuaternionObject *self, int begin, int end, PyObject *seq)
 628 {
 629         int i, size;
 630         float quat[QUAT_SIZE];
 631
 632         if (BaseMath_ReadCallback(self) == -1)
 633                 return -1;
 634
 635         CLAMP(begin, 0, QUAT_SIZE);
 636         if (end < 0) end = (QUAT_SIZE + 1) + end;
 637         CLAMP(end, 0, QUAT_SIZE);
 638         begin = MIN2(begin, end);
 639
 640         if ((size = mathutils_array_parse(quat, 0, QUAT_SIZE, seq, "mathutils.Quaternion[begin:end] = []")) == -1)
 641                 return -1;
 642
 643         if (size != (end - begin)) {
 644                 PyErr_SetString(PyExc_ValueError,
 645                                 "quaternion[begin:end] = []: "
 646                                 "size mismatch in slice assignment");
 647                 return -1;
 648         }
 649
 650         /* parsed well - now set in vector */
 651         for (i = 0; i < size; i++)
 652                 self->quat[begin + i] = quat[i];
 653
 654         (void)BaseMath_WriteCallback(self);
 655         return 0;
 656 }
 657
 658
 659 static PyObject *Quaternion_subscript(QuaternionObject *self, PyObject *item)
 660 {
 661         if (PyIndex_Check(item)) {
 662                 Py_ssize_t i;
 663                 i = PyNumber_AsSsize_t(item, PyExc_IndexError);
 664                 if (i == -1 && PyErr_Occurred())
 665                         return NULL;
 666                 if (i < 0)
 667                         i += QUAT_SIZE;
 668                 return Quaternion_item(self, i);
 669         }
 670         else if (PySlice_Check(item)) {
 671                 Py_ssize_t start, stop, step, slicelength;
 672
 673                 if (PySlice_GetIndicesEx((void *)item, QUAT_SIZE, &start, &stop, &step, &slicelength) < 0)
 674                         return NULL;
 675
 676                 if (slicelength <= 0) {
 677                         return PyTuple_New(0);
 678                 }
 679                 else if (step == 1) {
 680                         return Quaternion_slice(self, start, stop);
 681                 }
 682                 else {
 683                         PyErr_SetString(PyExc_IndexError,
 684                                         "slice steps not supported with quaternions");
 685                         return NULL;
 686                 }
 687         }
 688         else {
 689                 PyErr_Format(PyExc_TypeError,
 690                              "quaternion indices must be integers, not %.200s",
 691                              Py_TYPE(item)->tp_name);
 692                 return NULL;
 693         }
 694 }
 695
 696
 697 static int Quaternion_ass_subscript(QuaternionObject *self, PyObject *item, PyObject *value)
 698 {
 699         if (PyIndex_Check(item)) {
 700                 Py_ssize_t i = PyNumber_AsSsize_t(item, PyExc_IndexError);
 701                 if (i == -1 && PyErr_Occurred())
 702                         return -1;
 703                 if (i < 0)
 704                         i += QUAT_SIZE;
 705                 return Quaternion_ass_item(self, i, value);
 706         }
 707         else if (PySlice_Check(item)) {
 708                 Py_ssize_t start, stop, step, slicelength;
 709
 710                 if (PySlice_GetIndicesEx((void *)item, QUAT_SIZE, &start, &stop, &step, &slicelength) < 0)
 711                         return -1;
 712
 713                 if (step == 1)
 714                         return Quaternion_ass_slice(self, start, stop, value);
 715                 else {
 716                         PyErr_SetString(PyExc_IndexError,
 717                                         "slice steps not supported with quaternion");
 718                         return -1;
 719                 }
 720         }
 721         else {
 722                 PyErr_Format(PyExc_TypeError,
 723                              "quaternion indices must be integers, not %.200s",
 724                              Py_TYPE(item)->tp_name);
 725                 return -1;
 726         }
 727 }
 728
 729 //------------------------NUMERIC PROTOCOLS----------------------
 730 //------------------------obj + obj------------------------------
 731 //addition
 732 static PyObject *Quaternion_add(PyObject *q1, PyObject *q2)
 733 {
 734         float quat[QUAT_SIZE];
 735         QuaternionObject *quat1 = NULL, *quat2 = NULL;
 736
 737         if (!QuaternionObject_Check(q1) || !QuaternionObject_Check(q2)) {
 738                 PyErr_Format(PyExc_TypeError,
 739                              "Quaternion addition: (%s + %s) "
 740                              "invalid type for this operation",
 741                              Py_TYPE(q1)->tp_name, Py_TYPE(q2)->tp_name);
 742                 return NULL;
 743         }
 744         quat1 = (QuaternionObject*)q1;
 745         quat2 = (QuaternionObject*)q2;
 746
 747         if (BaseMath_ReadCallback(quat1) == -1 || BaseMath_ReadCallback(quat2) == -1)
 748                 return NULL;
 749
 750         add_qt_qtqt(quat, quat1->quat, quat2->quat, 1.0f);
 751         return Quaternion_CreatePyObject(quat, Py_NEW, Py_TYPE(q1));
 752 }
 753 //------------------------obj - obj------------------------------
 754 //subtraction
 755 static PyObject *Quaternion_sub(PyObject *q1, PyObject *q2)
 756 {
 757         int x;
 758         float quat[QUAT_SIZE];
 759         QuaternionObject *quat1 = NULL, *quat2 = NULL;
 760
 761         if (!QuaternionObject_Check(q1) || !QuaternionObject_Check(q2)) {
 762                 PyErr_Format(PyExc_TypeError,
 763                              "Quaternion subtraction: (%s - %s) "
 764                              "invalid type for this operation",
 765                              Py_TYPE(q1)->tp_name, Py_TYPE(q2)->tp_name);
 766                 return NULL;
 767         }
 768
 769         quat1 = (QuaternionObject*)q1;
 770         quat2 = (QuaternionObject*)q2;
 771
 772         if (BaseMath_ReadCallback(quat1) == -1 || BaseMath_ReadCallback(quat2) == -1)
 773                 return NULL;
 774
 775         for (x = 0; x < QUAT_SIZE; x++) {
 776                 quat[x] = quat1->quat[x] - quat2->quat[x];
 777         }
 778
 779         return Quaternion_CreatePyObject(quat, Py_NEW, Py_TYPE(q1));
 780 }
 781
 782 static PyObject *quat_mul_float(QuaternionObject *quat, const float scalar)
 783 {
 784         float tquat[4];
 785         copy_qt_qt(tquat, quat->quat);
 786         mul_qt_fl(tquat, scalar);
 787         return Quaternion_CreatePyObject(tquat, Py_NEW, Py_TYPE(quat));
 788 }
 789
 790 //------------------------obj * obj------------------------------
 791 //mulplication
 792 static PyObject *Quaternion_mul(PyObject *q1, PyObject *q2)
 793 {
 794         float quat[QUAT_SIZE], scalar;
 795         QuaternionObject *quat1 = NULL, *quat2 = NULL;
 796
 797         if (QuaternionObject_Check(q1)) {
 798                 quat1 = (QuaternionObject*)q1;
 799                 if (BaseMath_ReadCallback(quat1) == -1)
 800                         return NULL;
 801         }
 802         if (QuaternionObject_Check(q2)) {
 803                 quat2 = (QuaternionObject*)q2;
 804                 if (BaseMath_ReadCallback(quat2) == -1)
 805                         return NULL;
 806         }
 807
 808         if (quat1 && quat2) { /* QUAT*QUAT (cross product) */
 809                 mul_qt_qtqt(quat, quat1->quat, quat2->quat);
 810                 return Quaternion_CreatePyObject(quat, Py_NEW, Py_TYPE(q1));
 811         }
 812         /* the only case this can happen (for a supported type is "FLOAT*QUAT") */
 813         else if (quat2) { /* FLOAT*QUAT */
 814                 if (((scalar = PyFloat_AsDouble(q1)) == -1.0f && PyErr_Occurred()) == 0) {
 815                         return quat_mul_float(quat2, scalar);
 816                 }
 817         }
 818         else if (quat1) {
 819                 /* QUAT * VEC */
 820                 if (VectorObject_Check(q2)) {
 821                         VectorObject *vec2 = (VectorObject *)q2;
 822                         float tvec[3];
 823
 824                         if (vec2->size != 3) {
 825                                 PyErr_SetString(PyExc_ValueError,
 826                                                                 "Vector multiplication: "
 827                                                                 "only 3D vector rotations (with quats) "
 828                                                 "currently supported");
 829                                 return NULL;
 830                         }
 831                         if (BaseMath_ReadCallback(vec2) == -1) {
 832                                 return NULL;
 833                         }
 834
 835                         copy_v3_v3(tvec, vec2->vec);
 836                         mul_qt_v3(quat1->quat, tvec);
 837
 838                         return Vector_CreatePyObject(tvec, 3, Py_NEW, Py_TYPE(vec2));
 839                 }
 840                 /* QUAT * FLOAT */
 841                 else if ((((scalar = PyFloat_AsDouble(q2)) == -1.0f && PyErr_Occurred()) == 0)) {
 842                         return quat_mul_float(quat1, scalar);
 843                 }
 844         }
 845         else {
 846                 BLI_assert(!"internal error");
 847         }
 848
 849         PyErr_Format(PyExc_TypeError,
 850                      "Quaternion multiplication: "
 851                      "not supported between '%.200s' and '%.200s' types",
 852                      Py_TYPE(q1)->tp_name, Py_TYPE(q2)->tp_name);
 853         return NULL;
 854 }
 855
 856 /* -obj
 857   returns the negative of this object*/
 858 static PyObject *Quaternion_neg(QuaternionObject *self)
 859 {
 860         float tquat[QUAT_SIZE];
 861
 862         if (BaseMath_ReadCallback(self) == -1)
 863                 return NULL;
 864
 865         negate_v4_v4(tquat, self->quat);
 866         return Quaternion_CreatePyObject(tquat, Py_NEW, Py_TYPE(self));
 867 }
 868
 869
 870 //-----------------PROTOCOL DECLARATIONS--------------------------
 871 static PySequenceMethods Quaternion_SeqMethods = {
 872         (lenfunc) Quaternion_len,                               /* sq_length */
 873         (binaryfunc) NULL,                                              /* sq_concat */
 874         (ssizeargfunc) NULL,                                    /* sq_repeat */
 875         (ssizeargfunc) Quaternion_item,                 /* sq_item */
 876         (ssizessizeargfunc) NULL,                               /* sq_slice, deprecated */
 877         (ssizeobjargproc) Quaternion_ass_item,  /* sq_ass_item */
 878         (ssizessizeobjargproc) NULL,                    /* sq_ass_slice, deprecated */
 879         (objobjproc) NULL,                                              /* sq_contains */
 880         (binaryfunc) NULL,                                              /* sq_inplace_concat */
 881         (ssizeargfunc) NULL,                                    /* sq_inplace_repeat */
 882 };
 883
 884 static PyMappingMethods Quaternion_AsMapping = {
 885         (lenfunc)Quaternion_len,
 886         (binaryfunc)Quaternion_subscript,
 887         (objobjargproc)Quaternion_ass_subscript
 888 };
 889
 890 static PyNumberMethods Quaternion_NumMethods = {
 891         (binaryfunc)    Quaternion_add, /*nb_add*/
 892         (binaryfunc)    Quaternion_sub, /*nb_subtract*/
 893         (binaryfunc)    Quaternion_mul, /*nb_multiply*/
 894         NULL,                                                   /*nb_remainder*/
 895         NULL,                                                   /*nb_divmod*/
 896         NULL,                                                   /*nb_power*/
 897         (unaryfunc)     Quaternion_neg, /*nb_negative*/
 898         (unaryfunc)     0,      /*tp_positive*/
 899         (unaryfunc)     0,      /*tp_absolute*/
 900         (inquiry)       0,      /*tp_bool*/
 901         (unaryfunc)     0,      /*nb_invert*/
 902         NULL,                           /*nb_lshift*/
 903         (binaryfunc)0,  /*nb_rshift*/
 904         NULL,                           /*nb_and*/
 905         NULL,                           /*nb_xor*/
 906         NULL,                           /*nb_or*/
 907         NULL,                           /*nb_int*/
 908         NULL,                           /*nb_reserved*/
 909         NULL,                           /*nb_float*/
 910         NULL,                           /* nb_inplace_add */
 911         NULL,                           /* nb_inplace_subtract */
 912         NULL,                           /* nb_inplace_multiply */
 913         NULL,                           /* nb_inplace_remainder */
 914         NULL,                           /* nb_inplace_power */
 915         NULL,                           /* nb_inplace_lshift */
 916         NULL,                           /* nb_inplace_rshift */
 917         NULL,                           /* nb_inplace_and */
 918         NULL,                           /* nb_inplace_xor */
 919         NULL,                           /* nb_inplace_or */
 920         NULL,                           /* nb_floor_divide */
 921         NULL,                           /* nb_true_divide */
 922         NULL,                           /* nb_inplace_floor_divide */
 923         NULL,                           /* nb_inplace_true_divide */
 924         NULL,                           /* nb_index */
 925 };
 926
 927 PyDoc_STRVAR(Quaternion_axis_doc,
 928 "Quaternion axis value.\n\n:type: float"
 929 );
 930 static PyObject *Quaternion_axis_get(QuaternionObject *self, void *type)
 931 {
 932         return Quaternion_item(self, GET_INT_FROM_POINTER(type));
 933 }
 934
 935 static int Quaternion_axis_set(QuaternionObject *self, PyObject *value, void *type)
 936 {
 937         return Quaternion_ass_item(self, GET_INT_FROM_POINTER(type), value);
 938 }
 939
 940 PyDoc_STRVAR(Quaternion_magnitude_doc,
 941 "Size of the quaternion (readonly).\n\n:type: float"
 942 );
 943 static PyObject *Quaternion_magnitude_get(QuaternionObject *self, void *UNUSED(closure))
 944 {
 945         if (BaseMath_ReadCallback(self) == -1)
 946                 return NULL;
 947
 948         return PyFloat_FromDouble(sqrt(dot_qtqt(self->quat, self->quat)));
 949 }
 950
 951 PyDoc_STRVAR(Quaternion_angle_doc,
 952 "Angle of the quaternion.\n\n:type: float"
 953 );
 954 static PyObject *Quaternion_angle_get(QuaternionObject *self, void *UNUSED(closure))
 955 {
 956         float tquat[4];
 957         float angle;
 958
 959         if (BaseMath_ReadCallback(self) == -1)
 960                 return NULL;
 961
 962         normalize_qt_qt(tquat, self->quat);
 963
 964         angle = 2.0f * saacos(tquat[0]);
 965
 966         quat__axis_angle_sanitize(NULL, &angle);
 967
 968         return PyFloat_FromDouble(angle);
 969 }
 970
 971 static int Quaternion_angle_set(QuaternionObject *self, PyObject *value, void *UNUSED(closure))
 972 {
 973         float tquat[4];
 974         float len;
 975
 976         float axis[3], angle_dummy;
 977         float angle;
 978
 979         if (BaseMath_ReadCallback(self) == -1)
 980                 return -1;
 981
 982         len = normalize_qt_qt(tquat, self->quat);
 983         quat_to_axis_angle(axis, &angle_dummy, tquat);
 984
 985         angle = PyFloat_AsDouble(value);
 986
 987         if (angle == -1.0f && PyErr_Occurred()) { /* parsed item not a number */
 988                 PyErr_SetString(PyExc_TypeError,
 989                                 "Quaternion.angle = value: float expected");
 990                 return -1;
 991         }
 992
 993         angle = angle_wrap_rad(angle);
 994
 995         quat__axis_angle_sanitize(axis, &angle);
 996
 997         axis_angle_to_quat(self->quat, axis, angle);
 998         mul_qt_fl(self->quat, len);
 999
1000         if (BaseMath_WriteCallback(self) == -1)
1001                 return -1;
1002
1003         return 0;
1004 }
1005
1006 PyDoc_STRVAR(Quaternion_axis_vector_doc,
1007 "Quaternion axis as a vector.\n\n:type: :class:`Vector`"
1008 );
1009 static PyObject *Quaternion_axis_vector_get(QuaternionObject *self, void *UNUSED(closure))
1010 {
1011         float tquat[4];
1012
1013         float axis[3];
1014         float angle_dummy;
1015
1016         if (BaseMath_ReadCallback(self) == -1)
1017                 return NULL;
1018
1019         normalize_qt_qt(tquat, self->quat);
1020         quat_to_axis_angle(axis, &angle_dummy, tquat);
1021
1022         quat__axis_angle_sanitize(axis, NULL);
1023
1024         return Vector_CreatePyObject(axis, 3, Py_NEW, NULL);
1025 }
1026
1027 static int Quaternion_axis_vector_set(QuaternionObject *self, PyObject *value, void *UNUSED(closure))
1028 {
1029         float tquat[4];
1030         float len;
1031
1032         float axis[3];
1033         float angle;
1034
1035         if (BaseMath_ReadCallback(self) == -1)
1036                 return -1;
1037
1038         len = normalize_qt_qt(tquat, self->quat);
1039         quat_to_axis_angle(axis, &angle, tquat); /* axis value is unused */
1040
1041         if (mathutils_array_parse(axis, 3, 3, value, "quat.axis = other") == -1)
1042                 return -1;
1043
1044         quat__axis_angle_sanitize(axis, &angle);
1045
1046         axis_angle_to_quat(self->quat, axis, angle);
1047         mul_qt_fl(self->quat, len);
1048
1049         if (BaseMath_WriteCallback(self) == -1)
1050                 return -1;
1051
1052         return 0;
1053 }
1054
1055 //----------------------------------mathutils.Quaternion() --------------
1056 static PyObject *Quaternion_new(PyTypeObject *type, PyObject *args, PyObject *kwds)
1057 {
1058         PyObject *seq = NULL;
1059         double angle = 0.0f;
1060         float quat[QUAT_SIZE] = {0.0f, 0.0f, 0.0f, 0.0f};
1061
1062         if (kwds && PyDict_Size(kwds)) {
1063                 PyErr_SetString(PyExc_TypeError,
1064                                 "mathutils.Quaternion(): "
1065                                 "takes no keyword args");
1066                 return NULL;
1067         }
1068
1069         if (!PyArg_ParseTuple(args, "|Od:mathutils.Quaternion", &seq, &angle))
1070                 return NULL;
1071
1072         switch (PyTuple_GET_SIZE(args)) {
1073         case 0:
1074                 break;
1075         case 1:
1076                 if (mathutils_array_parse(quat, QUAT_SIZE, QUAT_SIZE, seq, "mathutils.Quaternion()") == -1)
1077                         return NULL;
1078                 break;
1079         case 2:
1080                 if (mathutils_array_parse(quat, 3, 3, seq, "mathutils.Quaternion()") == -1)
1081                         return NULL;
1082                 angle = angle_wrap_rad(angle); /* clamp because of precision issues */
1083                 axis_angle_to_quat(quat, quat, angle);
1084                 break;
1085         /* PyArg_ParseTuple assures no more then 2 */
1086         }
1087         return Quaternion_CreatePyObject(quat, Py_NEW, type);
1088 }
1089
1090 static PyObject *quat__apply_to_copy(PyNoArgsFunction quat_func, QuaternionObject *self)
1091 {
1092         PyObject *ret = Quaternion_copy(self);
1093         PyObject *ret_dummy = quat_func(ret);
1094         if (ret_dummy) {
1095                 Py_DECREF(ret_dummy);
1096                 return ret;
1097         }
1098         else { /* error */
1099                 Py_DECREF(ret);
1100                 return NULL;
1101         }
1102 }
1103
1104 /* axis vector suffers from precission errors, use this function to ensure */
1105 static void quat__axis_angle_sanitize(float axis[3], float *angle)
1106 {
1107         if (axis) {
1108                 if ( !finite(axis[0]) ||
1109                      !finite(axis[1]) ||
1110                      !finite(axis[2]))
1111                 {
1112                         axis[0] = 1.0f;
1113                         axis[1] = 0.0f;
1114                         axis[2] = 0.0f;
1115                 }
1116                 else if ( EXPP_FloatsAreEqual(axis[0], 0.0f, 10) &&
1117                           EXPP_FloatsAreEqual(axis[1], 0.0f, 10) &&
1118                           EXPP_FloatsAreEqual(axis[2], 0.0f, 10))
1119                 {
1120                         axis[0] = 1.0f;
1121                 }
1122         }
1123
1124         if (angle) {
1125                 if (!finite(*angle)) {
1126                         *angle = 0.0f;
1127                 }
1128         }
1129 }
1130
1131 //-----------------------METHOD DEFINITIONS ----------------------
1132 static struct PyMethodDef Quaternion_methods[] = {
1133         /* in place only */
1134         {"identity", (PyCFunction) Quaternion_identity, METH_NOARGS, Quaternion_identity_doc},
1135         {"negate", (PyCFunction) Quaternion_negate, METH_NOARGS, Quaternion_negate_doc},
1136
1137         /* operate on original or copy */
1138         {"conjugate", (PyCFunction) Quaternion_conjugate, METH_NOARGS, Quaternion_conjugate_doc},
1139         {"conjugated", (PyCFunction) Quaternion_conjugated, METH_NOARGS, Quaternion_conjugated_doc},
1140
1141         {"invert", (PyCFunction) Quaternion_invert, METH_NOARGS, Quaternion_invert_doc},
1142         {"inverted", (PyCFunction) Quaternion_inverted, METH_NOARGS, Quaternion_inverted_doc},
1143
1144         {"normalize", (PyCFunction) Quaternion_normalize, METH_NOARGS, Quaternion_normalize_doc},
1145         {"normalized", (PyCFunction) Quaternion_normalized, METH_NOARGS, Quaternion_normalized_doc},
1146
1147         /* return converted representation */
1148         {"to_euler", (PyCFunction) Quaternion_to_euler, METH_VARARGS, Quaternion_to_euler_doc},
1149         {"to_matrix", (PyCFunction) Quaternion_to_matrix, METH_NOARGS, Quaternion_to_matrix_doc},
1150         {"to_axis_angle", (PyCFunction) Quaternion_to_axis_angle, METH_NOARGS, Quaternion_to_axis_angle_doc},
1151
1152         /* operation between 2 or more types  */
1153         {"cross", (PyCFunction) Quaternion_cross, METH_O, Quaternion_cross_doc},
1154         {"dot", (PyCFunction) Quaternion_dot, METH_O, Quaternion_dot_doc},
1155         {"rotation_difference", (PyCFunction) Quaternion_rotation_difference, METH_O, Quaternion_rotation_difference_doc},
1156         {"slerp", (PyCFunction) Quaternion_slerp, METH_VARARGS, Quaternion_slerp_doc},
1157         {"rotate", (PyCFunction) Quaternion_rotate, METH_O, Quaternion_rotate_doc},
1158
1159         {"__copy__", (PyCFunction) Quaternion_copy, METH_NOARGS, Quaternion_copy_doc},
1160         {"copy", (PyCFunction) Quaternion_copy, METH_NOARGS, Quaternion_copy_doc},
1161         {NULL, NULL, 0, NULL}
1162 };
1163
1164 /*****************************************************************************/
1165 /* Python attributes get/set structure:                                      */
1166 /*****************************************************************************/
1167 static PyGetSetDef Quaternion_getseters[] = {
1168         {(char *)"w", (getter)Quaternion_axis_get, (setter)Quaternion_axis_set, Quaternion_axis_doc, (void *)0},
1169         {(char *)"x", (getter)Quaternion_axis_get, (setter)Quaternion_axis_set, Quaternion_axis_doc, (void *)1},
1170         {(char *)"y", (getter)Quaternion_axis_get, (setter)Quaternion_axis_set, Quaternion_axis_doc, (void *)2},
1171         {(char *)"z", (getter)Quaternion_axis_get, (setter)Quaternion_axis_set, Quaternion_axis_doc, (void *)3},
1172         {(char *)"magnitude", (getter)Quaternion_magnitude_get, (setter)NULL, Quaternion_magnitude_doc, NULL},
1173         {(char *)"angle", (getter)Quaternion_angle_get, (setter)Quaternion_angle_set, Quaternion_angle_doc, NULL},
1174         {(char *)"axis",(getter)Quaternion_axis_vector_get, (setter)Quaternion_axis_vector_set, Quaternion_axis_vector_doc, NULL},
1175         {(char *)"is_wrapped", (getter)BaseMathObject_is_wrapped_get, (setter)NULL, BaseMathObject_is_wrapped_doc, NULL},
1176         {(char *)"owner", (getter)BaseMathObject_owner_get, (setter)NULL, BaseMathObject_owner_doc, NULL},
1177         {NULL, NULL, NULL, NULL, NULL}  /* Sentinel */
1178 };
1179
1180 //------------------PY_OBECT DEFINITION--------------------------
1181 PyDoc_STRVAR(quaternion_doc,
1182 "This object gives access to Quaternions in Blender."
1183 );
1184 PyTypeObject quaternion_Type = {
1185         PyVarObject_HEAD_INIT(NULL, 0)
1186         "mathutils.Quaternion",                                         //tp_name
1187         sizeof(QuaternionObject),                       //tp_basicsize
1188         0,                                                              //tp_itemsize
1189         (destructor)BaseMathObject_dealloc,             //tp_dealloc
1190         NULL,                                                           //tp_print
1191         NULL,                                                           //tp_getattr
1192         NULL,                                                           //tp_setattr
1193         NULL,                                                           //tp_compare
1194         (reprfunc) Quaternion_repr,             //tp_repr
1195         &Quaternion_NumMethods,                 //tp_as_number
1196         &Quaternion_SeqMethods,                 //tp_as_sequence
1197         &Quaternion_AsMapping,                  //tp_as_mapping
1198         NULL,                                                           //tp_hash
1199         NULL,                                                           //tp_call
1200         (reprfunc) Quaternion_str,                      //tp_str
1201         NULL,                                                           //tp_getattro
1202         NULL,                                                           //tp_setattro
1203         NULL,                                                           //tp_as_buffer
1204         Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE | Py_TPFLAGS_HAVE_GC, //tp_flags
1205         quaternion_doc, //tp_doc
1206         (traverseproc)BaseMathObject_traverse,  //tp_traverse
1207         (inquiry)BaseMathObject_clear,  //tp_clear
1208         (richcmpfunc)Quaternion_richcmpr,       //tp_richcompare
1209         0,                                                              //tp_weaklistoffset
1210         NULL,                                                           //tp_iter
1211         NULL,                                                           //tp_iternext
1212         Quaternion_methods,                             //tp_methods
1213         NULL,                                                           //tp_members
1214         Quaternion_getseters,                   //tp_getset
1215         NULL,                                                           //tp_base
1216         NULL,                                                           //tp_dict
1217         NULL,                                                           //tp_descr_get
1218         NULL,                                                           //tp_descr_set
1219         0,                                                              //tp_dictoffset
1220         NULL,                                                           //tp_init
1221         NULL,                                                           //tp_alloc
1222         Quaternion_new,                                 //tp_new
1223         NULL,                                                           //tp_free
1224         NULL,                                                           //tp_is_gc
1225         NULL,                                                           //tp_bases
1226         NULL,                                                           //tp_mro
1227         NULL,                                                           //tp_cache
1228         NULL,                                                           //tp_subclasses
1229         NULL,                                                           //tp_weaklist
1230         NULL,                                                           //tp_del
1231 };
1232 //------------------------Quaternion_CreatePyObject (internal)-------------
1233 //creates a new quaternion object
1234 /*pass Py_WRAP - if vector is a WRAPPER for data allocated by BLENDER
1235  (i.e. it was allocated elsewhere by MEM_mallocN())
1236   pass Py_NEW - if vector is not a WRAPPER and managed by PYTHON
1237  (i.e. it must be created here with PyMEM_malloc())*/
1238 PyObject *Quaternion_CreatePyObject(float *quat, int type, PyTypeObject *base_type)
1239 {
1240         QuaternionObject *self;
1241
1242         self = base_type ? (QuaternionObject *)base_type->tp_alloc(base_type, 0) :
1243                            (QuaternionObject *)PyObject_GC_New(QuaternionObject, &quaternion_Type);
1244
1245         if (self) {
1246                 /* init callbacks as NULL */
1247                 self->cb_user = NULL;
1248                 self->cb_type = self->cb_subtype = 0;
1249
1250                 if (type == Py_WRAP) {
1251                         self->quat = quat;
1252                         self->wrapped = Py_WRAP;
1253                 }
1254                 else if (type == Py_NEW) {
1255                         self->quat = PyMem_Malloc(QUAT_SIZE * sizeof(float));
1256                         if (!quat) { //new empty
1257                                 unit_qt(self->quat);
1258                         }
1259                         else {
1260                                 copy_qt_qt(self->quat, quat);
1261                         }
1262                         self->wrapped = Py_NEW;
1263                 }
1264                 else {
1265                         Py_FatalError("Quaternion(): invalid type!");
1266                 }
1267         }
1268         return (PyObject *) self;
1269 }
1270
1271 PyObject *Quaternion_CreatePyObject_cb(PyObject *cb_user, int cb_type, int cb_subtype)
1272 {
1273         QuaternionObject *self = (QuaternionObject *)Quaternion_CreatePyObject(NULL, Py_NEW, NULL);
1274         if (self) {
1275                 Py_INCREF(cb_user);
1276                 self->cb_user =                 cb_user;
1277                 self->cb_type =                 (unsigned char)cb_type;
1278                 self->cb_subtype =              (unsigned char)cb_subtype;
1279                 PyObject_GC_Track(self);
1280         }
1281
1282         return (PyObject *)self;
1283 }
1284