X-Git-Url: https://git.blender.org/gitweb/gitweb.cgi/blender-staging.git/blobdiff_plain/f399481251a4d375a494517925c64b3b3c6db7e8..757f75b76889e7864027f8d996083c54aeb306e6:/source/blender/blenlib/intern/math_rotation.c

diff --git a/source/blender/blenlib/intern/math_rotation.c b/source/blender/blenlib/intern/math_rotation.c
index ad6ce5c4448..a825935045f 100644
--- a/source/blender/blenlib/intern/math_rotation.c
+++ b/source/blender/blenlib/intern/math_rotation.c
@@ -36,7 +36,7 @@ void unit_qt(float *q)
 	q[1]= q[2]= q[3]= 0.0f;
 }
 
-void copy_qt_qt(float *q1, float *q2)
+void copy_qt_qt(float *q1, const float *q2)
 {
 	q1[0]= q2[0];
 	q1[1]= q2[1];
@@ -49,7 +49,7 @@ int is_zero_qt(float *q)
 	return (q[0] == 0 && q[1] == 0 && q[2] == 0 && q[3] == 0);
 }
 
-void mul_qt_qtqt(float *q, float *q1, float *q2)
+void mul_qt_qtqt(float *q, const float *q1, const float *q2)
 {
 	float t0,t1,t2;
 
@@ -63,7 +63,7 @@ void mul_qt_qtqt(float *q, float *q1, float *q2)
 }
 
 /* Assumes a unit quaternion */
-void mul_qt_v3(float *q, float *v)
+void mul_qt_v3(const float *q, float *v)
 {
 	float t0, t1, t2;
 
@@ -104,8 +104,14 @@ void invert_qt(float *q)
 	mul_qt_fl(q, 1.0f/f);
 }
 
+void invert_qt_qt(float *q1, const float *q2)
+{
+	copy_qt_qt(q1, q2);
+	invert_qt(q1);
+}
+
 /* simple mult */
-void mul_qt_fl(float *q, float f)
+void mul_qt_fl(float *q, const float f)
 {
 	q[0] *= f;
 	q[1] *= f;
@@ -121,7 +127,7 @@ void sub_qt_qtqt(float *q, float *q1, float *q2)
 }
 
 /* angular mult factor */
-void mul_fac_qt_fl(float *q, float fac)
+void mul_fac_qt_fl(float *q, const float fac)
 {
 	float angle= fac*saacos(q[0]);	/* quat[0]= cos(0.5*angle), but now the 0.5 and 2.0 rule out */
 	
@@ -334,6 +340,23 @@ void rotation_between_vecs_to_quat(float *q, const float v1[3], const float v2[3
 	axis_angle_to_quat(q, axis, angle);
 }
 
+void rotation_between_quats_to_quat(float *q, const float q1[4], const float q2[4])
+{
+	float tquat[4];
+	double dot = 0.0f;
+	int x;
+
+	copy_qt_qt(tquat, q1);
+	conjugate_qt(tquat);
+	dot = 1.0f / dot_qtqt(tquat, tquat);
+
+	for(x = 0; x < 4; x++)
+		tquat[x] *= dot;
+
+	mul_qt_qtqt(q, tquat, q2);
+}
+
+
 void vec_to_quat(float *q,float *vec, short axis, short upflag)
 {
 	float q2[4], nor[3], *fp, mat[3][3], angle, si, co, x2, y2, z2, len1;