source/blender/python/generic/mathutils_euler.c

   1 /*
   2  * $Id$
   3  *
   4  * ***** BEGIN GPL LICENSE BLOCK *****
   5  *
   6  * This program is free software; you can redistribute it and/or
   7  * modify it under the terms of the GNU General Public License
   8  * as published by the Free Software Foundation; either version 2
   9  * of the License, or (at your option) any later version.
  10  *
  11  * This program is distributed in the hope that it will be useful,
  12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  14  * GNU General Public License for more details.
  15  *
  16  * You should have received a copy of the GNU General Public License
  17  * along with this program; if not, write to the Free Software Foundation,
  18  * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
  19  *
  20  * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
  21  * All rights reserved.
  22  *
  23  *
  24  * Contributor(s): Joseph Gilbert
  25  *
  26  * ***** END GPL LICENSE BLOCK *****
  27  */
  28
  29 #include "mathutils.h"
  30
  31 #include "BLI_math.h"
  32 #include "BLI_utildefines.h"
  33
  34
  35
  36 #ifndef int32_t
  37 #include "BLO_sys_types.h"
  38 #endif
  39
  40 #define EULER_SIZE 3
  41
  42 //----------------------------------mathutils.Euler() -------------------
  43 //makes a new euler for you to play with
  44 static PyObject *Euler_new(PyTypeObject *type, PyObject *args, PyObject *kwds)
  45 {
  46         PyObject *seq= NULL;
  47         char *order_str= NULL;
  48
  49         float eul[EULER_SIZE]= {0.0f, 0.0f, 0.0f};
  50         short order= EULER_ORDER_XYZ;
  51
  52         if(kwds && PyDict_Size(kwds)) {
  53                 PyErr_SetString(PyExc_TypeError, "mathutils.Euler(): takes no keyword args");
  54                 return NULL;
  55         }
  56
  57         if(!PyArg_ParseTuple(args, "|Os:mathutils.Euler", &seq, &order_str))
  58                 return NULL;
  59
  60         switch(PyTuple_GET_SIZE(args)) {
  61         case 0:
  62                 break;
  63         case 2:
  64                 if((order=euler_order_from_string(order_str, "mathutils.Euler()")) == -1)
  65                         return NULL;
  66                 /* intentionally pass through */
  67         case 1:
  68                 if (mathutils_array_parse(eul, EULER_SIZE, EULER_SIZE, seq, "mathutils.Euler()") == -1)
  69                         return NULL;
  70                 break;
  71         }
  72         return newEulerObject(eul, order, Py_NEW, type);
  73 }
  74
  75 short euler_order_from_string(const char *str, const char *error_prefix)
  76 {
  77         if((str[0] && str[1] && str[2] && str[3]=='\0')) {
  78                 switch(*((int32_t *)str)) {
  79                         case 'X'|'Y'<<8|'Z'<<16:        return EULER_ORDER_XYZ;
  80                         case 'X'|'Z'<<8|'Y'<<16:        return EULER_ORDER_XZY;
  81                         case 'Y'|'X'<<8|'Z'<<16:        return EULER_ORDER_YXZ;
  82                         case 'Y'|'Z'<<8|'X'<<16:        return EULER_ORDER_YZX;
  83                         case 'Z'|'X'<<8|'Y'<<16:        return EULER_ORDER_ZXY;
  84                         case 'Z'|'Y'<<8|'X'<<16:        return EULER_ORDER_ZYX;
  85                 }
  86         }
  87
  88         PyErr_Format(PyExc_TypeError, "%s: invalid euler order '%s'", error_prefix, str);
  89         return -1;
  90 }
  91
  92 /* note: BaseMath_ReadCallback must be called beforehand */
  93 static PyObject *Euler_ToTupleExt(EulerObject *self, int ndigits)
  94 {
  95         PyObject *ret;
  96         int i;
  97
  98         ret= PyTuple_New(EULER_SIZE);
  99
 100         if(ndigits >= 0) {
 101                 for(i= 0; i < EULER_SIZE; i++) {
 102                         PyTuple_SET_ITEM(ret, i, PyFloat_FromDouble(double_round((double)self->eul[i], ndigits)));
 103                 }
 104         }
 105         else {
 106                 for(i= 0; i < EULER_SIZE; i++) {
 107                         PyTuple_SET_ITEM(ret, i, PyFloat_FromDouble(self->eul[i]));
 108                 }
 109         }
 110
 111         return ret;
 112 }
 113
 114 //-----------------------------METHODS----------------------------
 115 //return a quaternion representation of the euler
 116
 117 static char Euler_ToQuat_doc[] =
 118 ".. method:: to_quat()\n"
 119 "\n"
 120 "   Return a quaternion representation of the euler.\n"
 121 "\n"
 122 "   :return: Quaternion representation of the euler.\n"
 123 "   :rtype: :class:`Quaternion`\n";
 124
 125 static PyObject *Euler_ToQuat(EulerObject * self)
 126 {
 127         float quat[4];
 128
 129         if(!BaseMath_ReadCallback(self))
 130                 return NULL;
 131
 132         if(self->order==EULER_ORDER_XYZ)        eul_to_quat(quat, self->eul);
 133         else                                                            eulO_to_quat(quat, self->eul, self->order);
 134
 135         return newQuaternionObject(quat, Py_NEW, NULL);
 136 }
 137
 138 //return a matrix representation of the euler
 139 static char Euler_ToMatrix_doc[] =
 140 ".. method:: to_matrix()\n"
 141 "\n"
 142 "   Return a matrix representation of the euler.\n"
 143 "\n"
 144 "   :return: A 3x3 roation matrix representation of the euler.\n"
 145 "   :rtype: :class:`Matrix`\n";
 146
 147 static PyObject *Euler_ToMatrix(EulerObject * self)
 148 {
 149         float mat[9] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
 150
 151         if(!BaseMath_ReadCallback(self))
 152                 return NULL;
 153
 154         if(self->order==EULER_ORDER_XYZ)        eul_to_mat3((float (*)[3])mat, self->eul);
 155         else                                                            eulO_to_mat3((float (*)[3])mat, self->eul, self->order);
 156
 157         return newMatrixObject(mat, 3, 3 , Py_NEW, NULL);
 158 }
 159
 160 //sets the x,y,z values to a unique euler rotation
 161 // TODO, check if this works with rotation order!!!
 162 static char Euler_Unique_doc[] =
 163 ".. method:: unique()\n"
 164 "\n"
 165 "   Calculate a unique rotation for this euler. Avoids gimble lock.\n"
 166 "\n"
 167 "   :return: an instance of itself\n"
 168 "   :rtype: :class:`Euler`\n";
 169
 170 static PyObject *Euler_Unique(EulerObject * self)
 171 {
 172 #define PI_2            (Py_PI * 2.0)
 173 #define PI_HALF         (Py_PI / 2.0)
 174 #define PI_INV          (1.0 / Py_PI)
 175
 176         double heading, pitch, bank;
 177
 178         if(!BaseMath_ReadCallback(self))
 179                 return NULL;
 180
 181         heading = self->eul[0];
 182         pitch = self->eul[1];
 183         bank = self->eul[2];
 184
 185         //wrap heading in +180 / -180
 186         pitch += Py_PI;
 187         pitch -= floor(pitch * PI_INV) * PI_2;
 188         pitch -= Py_PI;
 189
 190
 191         if(pitch < -PI_HALF) {
 192                 pitch = -Py_PI - pitch;
 193                 heading += Py_PI;
 194                 bank += Py_PI;
 195         } else if(pitch > PI_HALF) {
 196                 pitch = Py_PI - pitch;
 197                 heading += Py_PI;
 198                 bank += Py_PI;
 199         }
 200         //gimbal lock test
 201         if(fabs(pitch) > PI_HALF - 1e-4) {
 202                 heading += bank;
 203                 bank = 0.0f;
 204         } else {
 205                 bank += Py_PI;
 206                 bank -= (floor(bank * PI_INV)) * PI_2;
 207                 bank -= Py_PI;
 208         }
 209
 210         heading += Py_PI;
 211         heading -= (floor(heading * PI_INV)) * PI_2;
 212         heading -= Py_PI;
 213
 214         (void)BaseMath_WriteCallback(self);
 215         Py_INCREF(self);
 216         return (PyObject *)self;
 217 }
 218
 219 //sets the euler to 0,0,0
 220 static char Euler_Zero_doc[] =
 221 ".. method:: zero()\n"
 222 "\n"
 223 "   Set all values to zero.\n"
 224 "\n"
 225 "   :return: an instance of itself\n"
 226 "   :rtype: :class:`Euler`\n";
 227
 228 static PyObject *Euler_Zero(EulerObject * self)
 229 {
 230         self->eul[0] = 0.0;
 231         self->eul[1] = 0.0;
 232         self->eul[2] = 0.0;
 233
 234         (void)BaseMath_WriteCallback(self);
 235         Py_INCREF(self);
 236         return (PyObject *)self;
 237 }
 238
 239 static char Euler_rotate_axis_doc[] =
 240 ".. method:: rotate_axis(axis, angle)\n"
 241 "\n"
 242 "   Rotates the euler a certain amount and returning a unique euler rotation (no 720 degree pitches).\n"
 243 "\n"
 244 "   :arg axis: single character in ['X, 'Y', 'Z'].\n"
 245 "   :type axis: string\n"
 246 "   :arg angle: angle in radians.\n"
 247 "   :type angle: float\n"
 248 "   :return: an instance of itself\n"
 249 "   :rtype: :class:`Euler`";
 250
 251 static PyObject *Euler_rotate_axis(EulerObject * self, PyObject *args)
 252 {
 253         float angle = 0.0f;
 254         char *axis;
 255
 256         if(!PyArg_ParseTuple(args, "sf:rotate", &axis, &angle)){
 257                 PyErr_SetString(PyExc_TypeError, "euler.rotate(): expected angle (float) and axis (x,y,z)");
 258                 return NULL;
 259         }
 260         if(!(ELEM3(*axis, 'X', 'Y', 'Z') && axis[1]=='\0')){
 261                 PyErr_SetString(PyExc_TypeError, "euler.rotate(): expected axis to be 'X', 'Y' or 'Z'");
 262                 return NULL;
 263         }
 264
 265         if(!BaseMath_ReadCallback(self))
 266                 return NULL;
 267
 268         if(self->order == EULER_ORDER_XYZ)      rotate_eul(self->eul, *axis, angle);
 269         else                                                            rotate_eulO(self->eul, self->order, *axis, angle);
 270
 271         (void)BaseMath_WriteCallback(self);
 272         Py_INCREF(self);
 273         return (PyObject *)self;
 274 }
 275
 276 static char Euler_MakeCompatible_doc[] =
 277 ".. method:: make_compatible(other)\n"
 278 "\n"
 279 "   Make this euler compatible with another, so interpolating between them works as intended.\n"
 280 "\n"
 281 "   :arg other: make compatible with this rotation.\n"
 282 "   :type other: :class:`Euler`\n"
 283 "   :return: an instance of itself.\n"
 284 "   :rtype: :class:`Euler`\n"
 285 "\n"
 286 "   .. note:: the order of eulers must match or an exception is raised.\n";
 287
 288 static PyObject *Euler_MakeCompatible(EulerObject * self, EulerObject *value)
 289 {
 290         if(!EulerObject_Check(value)) {
 291                 PyErr_SetString(PyExc_TypeError, "euler.make_compatible(euler): expected a single euler argument");
 292                 return NULL;
 293         }
 294
 295         if(!BaseMath_ReadCallback(self) || !BaseMath_ReadCallback(value))
 296                 return NULL;
 297
 298         if(self->order != value->order) {
 299                 PyErr_SetString(PyExc_ValueError, "euler.make_compatible(euler): rotation orders don't match");
 300                 return NULL;
 301         }
 302
 303         compatible_eul(self->eul, value->eul);
 304
 305         (void)BaseMath_WriteCallback(self);
 306         Py_INCREF(self);
 307         return (PyObject *)self;
 308 }
 309
 310 //----------------------------Euler.rotate()-----------------------
 311 // return a copy of the euler
 312
 313 static char Euler_copy_doc[] =
 314 ".. function:: copy()\n"
 315 "\n"
 316 "   Returns a copy of this euler.\n"
 317 "\n"
 318 "   :return: A copy of the euler.\n"
 319 "   :rtype: :class:`Euler`\n"
 320 "\n"
 321 "   .. note:: use this to get a copy of a wrapped euler with no reference to the original data.\n";
 322
 323 static PyObject *Euler_copy(EulerObject *self)
 324 {
 325         if(!BaseMath_ReadCallback(self))
 326                 return NULL;
 327
 328         return newEulerObject(self->eul, self->order, Py_NEW, Py_TYPE(self));
 329 }
 330
 331 //----------------------------print object (internal)--------------
 332 //print the object to screen
 333
 334 static PyObject *Euler_repr(EulerObject * self)
 335 {
 336         PyObject *ret, *tuple;
 337
 338         if(!BaseMath_ReadCallback(self))
 339                 return NULL;
 340
 341         tuple= Euler_ToTupleExt(self, -1);
 342
 343         ret= PyUnicode_FromFormat("Euler(%R)", tuple);
 344
 345         Py_DECREF(tuple);
 346         return ret;
 347 }
 348
 349 //------------------------tp_richcmpr
 350 //returns -1 execption, 0 false, 1 true
 351 static PyObject* Euler_richcmpr(PyObject *objectA, PyObject *objectB, int comparison_type)
 352 {
 353         EulerObject *eulA = NULL, *eulB = NULL;
 354         int result = 0;
 355
 356         if(EulerObject_Check(objectA)) {
 357                 eulA = (EulerObject*)objectA;
 358                 if(!BaseMath_ReadCallback(eulA))
 359                         return NULL;
 360         }
 361         if(EulerObject_Check(objectB)) {
 362                 eulB = (EulerObject*)objectB;
 363                 if(!BaseMath_ReadCallback(eulB))
 364                         return NULL;
 365         }
 366
 367         if (!eulA || !eulB){
 368                 if (comparison_type == Py_NE){
 369                         Py_RETURN_TRUE;
 370                 }else{
 371                         Py_RETURN_FALSE;
 372                 }
 373         }
 374         eulA = (EulerObject*)objectA;
 375         eulB = (EulerObject*)objectB;
 376
 377         switch (comparison_type){
 378                 case Py_EQ:
 379                         result = EXPP_VectorsAreEqual(eulA->eul, eulB->eul, EULER_SIZE, 1);
 380                         break;
 381                 case Py_NE:
 382                         result = !EXPP_VectorsAreEqual(eulA->eul, eulB->eul, EULER_SIZE, 1);
 383                         break;
 384                 default:
 385                         printf("The result of the comparison could not be evaluated");
 386                         break;
 387         }
 388         if (result == 1){
 389                 Py_RETURN_TRUE;
 390         }else{
 391                 Py_RETURN_FALSE;
 392         }
 393 }
 394
 395 //---------------------SEQUENCE PROTOCOLS------------------------
 396 //----------------------------len(object)------------------------
 397 //sequence length
 398 static int Euler_len(EulerObject *UNUSED(self))
 399 {
 400         return EULER_SIZE;
 401 }
 402 //----------------------------object[]---------------------------
 403 //sequence accessor (get)
 404 static PyObject *Euler_item(EulerObject * self, int i)
 405 {
 406         if(i<0) i= EULER_SIZE-i;
 407
 408         if(i < 0 || i >= EULER_SIZE) {
 409                 PyErr_SetString(PyExc_IndexError, "euler[attribute]: array index out of range");
 410                 return NULL;
 411         }
 412
 413         if(!BaseMath_ReadIndexCallback(self, i))
 414                 return NULL;
 415
 416         return PyFloat_FromDouble(self->eul[i]);
 417
 418 }
 419 //----------------------------object[]-------------------------
 420 //sequence accessor (set)
 421 static int Euler_ass_item(EulerObject * self, int i, PyObject *value)
 422 {
 423         float f = PyFloat_AsDouble(value);
 424
 425         if(f == -1 && PyErr_Occurred()) { // parsed item not a number
 426                 PyErr_SetString(PyExc_TypeError, "euler[attribute] = x: argument not a number");
 427                 return -1;
 428         }
 429
 430         if(i<0) i= EULER_SIZE-i;
 431
 432         if(i < 0 || i >= EULER_SIZE){
 433                 PyErr_SetString(PyExc_IndexError, "euler[attribute] = x: array assignment index out of range");
 434                 return -1;
 435         }
 436
 437         self->eul[i] = f;
 438
 439         if(!BaseMath_WriteIndexCallback(self, i))
 440                 return -1;
 441
 442         return 0;
 443 }
 444 //----------------------------object[z:y]------------------------
 445 //sequence slice (get)
 446 static PyObject *Euler_slice(EulerObject * self, int begin, int end)
 447 {
 448         PyObject *tuple;
 449         int count;
 450
 451         if(!BaseMath_ReadCallback(self))
 452                 return NULL;
 453
 454         CLAMP(begin, 0, EULER_SIZE);
 455         if (end<0) end= (EULER_SIZE + 1) + end;
 456         CLAMP(end, 0, EULER_SIZE);
 457         begin= MIN2(begin, end);
 458
 459         tuple= PyTuple_New(end - begin);
 460         for(count = begin; count < end; count++) {
 461                 PyTuple_SET_ITEM(tuple, count - begin, PyFloat_FromDouble(self->eul[count]));
 462         }
 463
 464         return tuple;
 465 }
 466 //----------------------------object[z:y]------------------------
 467 //sequence slice (set)
 468 static int Euler_ass_slice(EulerObject * self, int begin, int end, PyObject * seq)
 469 {
 470         int i, size;
 471         float eul[EULER_SIZE];
 472
 473         if(!BaseMath_ReadCallback(self))
 474                 return -1;
 475
 476         CLAMP(begin, 0, EULER_SIZE);
 477         if (end<0) end= (EULER_SIZE + 1) + end;
 478         CLAMP(end, 0, EULER_SIZE);
 479         begin = MIN2(begin,end);
 480
 481         if((size=mathutils_array_parse(eul, 0, EULER_SIZE, seq, "mathutils.Euler[begin:end] = []")) == -1)
 482                 return -1;
 483
 484         if(size != (end - begin)){
 485                 PyErr_SetString(PyExc_TypeError, "euler[begin:end] = []: size mismatch in slice assignment");
 486                 return -1;
 487         }
 488
 489         for(i= 0; i < EULER_SIZE; i++)
 490                 self->eul[begin + i] = eul[i];
 491
 492         (void)BaseMath_WriteCallback(self);
 493         return 0;
 494 }
 495
 496 static PyObject *Euler_subscript(EulerObject *self, PyObject *item)
 497 {
 498         if (PyIndex_Check(item)) {
 499                 Py_ssize_t i;
 500                 i = PyNumber_AsSsize_t(item, PyExc_IndexError);
 501                 if (i == -1 && PyErr_Occurred())
 502                         return NULL;
 503                 if (i < 0)
 504                         i += EULER_SIZE;
 505                 return Euler_item(self, i);
 506         } else if (PySlice_Check(item)) {
 507                 Py_ssize_t start, stop, step, slicelength;
 508
 509                 if (PySlice_GetIndicesEx((PySliceObject*)item, EULER_SIZE, &start, &stop, &step, &slicelength) < 0)
 510                         return NULL;
 511
 512                 if (slicelength <= 0) {
 513                         return PyList_New(0);
 514                 }
 515                 else if (step == 1) {
 516                         return Euler_slice(self, start, stop);
 517                 }
 518                 else {
 519                         PyErr_SetString(PyExc_TypeError, "slice steps not supported with eulers");
 520                         return NULL;
 521                 }
 522         }
 523         else {
 524                 PyErr_Format(PyExc_TypeError, "euler indices must be integers, not %.200s", Py_TYPE(item)->tp_name);
 525                 return NULL;
 526         }
 527 }
 528
 529
 530 static int Euler_ass_subscript(EulerObject *self, PyObject *item, PyObject *value)
 531 {
 532         if (PyIndex_Check(item)) {
 533                 Py_ssize_t i = PyNumber_AsSsize_t(item, PyExc_IndexError);
 534                 if (i == -1 && PyErr_Occurred())
 535                         return -1;
 536                 if (i < 0)
 537                         i += EULER_SIZE;
 538                 return Euler_ass_item(self, i, value);
 539         }
 540         else if (PySlice_Check(item)) {
 541                 Py_ssize_t start, stop, step, slicelength;
 542
 543                 if (PySlice_GetIndicesEx((PySliceObject*)item, EULER_SIZE, &start, &stop, &step, &slicelength) < 0)
 544                         return -1;
 545
 546                 if (step == 1)
 547                         return Euler_ass_slice(self, start, stop, value);
 548                 else {
 549                         PyErr_SetString(PyExc_TypeError, "slice steps not supported with euler");
 550                         return -1;
 551                 }
 552         }
 553         else {
 554                 PyErr_Format(PyExc_TypeError, "euler indices must be integers, not %.200s", Py_TYPE(item)->tp_name);
 555                 return -1;
 556         }
 557 }
 558
 559 //-----------------PROTCOL DECLARATIONS--------------------------
 560 static PySequenceMethods Euler_SeqMethods = {
 561         (lenfunc) Euler_len,                                    /* sq_length */
 562         (binaryfunc) NULL,                                              /* sq_concat */
 563         (ssizeargfunc) NULL,                                    /* sq_repeat */
 564         (ssizeargfunc) Euler_item,                              /* sq_item */
 565         (ssizessizeargfunc) NULL,                               /* sq_slice, deprecated  */
 566         (ssizeobjargproc) Euler_ass_item,               /* sq_ass_item */
 567         (ssizessizeobjargproc) NULL,                    /* sq_ass_slice, deprecated */
 568         (objobjproc) NULL,                                              /* sq_contains */
 569         (binaryfunc) NULL,                                              /* sq_inplace_concat */
 570         (ssizeargfunc) NULL,                                    /* sq_inplace_repeat */
 571 };
 572
 573 static PyMappingMethods Euler_AsMapping = {
 574         (lenfunc)Euler_len,
 575         (binaryfunc)Euler_subscript,
 576         (objobjargproc)Euler_ass_subscript
 577 };
 578
 579 /*
 580  * euler axis, euler.x/y/z
 581  */
 582 static PyObject *Euler_getAxis(EulerObject *self, void *type )
 583 {
 584         return Euler_item(self, GET_INT_FROM_POINTER(type));
 585 }
 586
 587 static int Euler_setAxis(EulerObject *self, PyObject *value, void *type)
 588 {
 589         return Euler_ass_item(self, GET_INT_FROM_POINTER(type), value);
 590 }
 591
 592 /* rotation order */
 593 static PyObject *Euler_getOrder(EulerObject *self, void *UNUSED(closure))
 594 {
 595         const char order[][4] = {"XYZ", "XZY", "YXZ", "YZX", "ZXY", "ZYX"};
 596
 597         if(!BaseMath_ReadCallback(self)) /* can read order too */
 598                 return NULL;
 599
 600         return PyUnicode_FromString(order[self->order-EULER_ORDER_XYZ]);
 601 }
 602
 603 static int Euler_setOrder(EulerObject *self, PyObject *value, void *UNUSED(closure))
 604 {
 605         char *order_str= _PyUnicode_AsString(value);
 606         short order= euler_order_from_string(order_str, "euler.order");
 607
 608         if(order == -1)
 609                 return -1;
 610
 611         self->order= order;
 612         (void)BaseMath_WriteCallback(self); /* order can be written back */
 613         return 0;
 614 }
 615
 616 /*****************************************************************************/
 617 /* Python attributes get/set structure:                                      */
 618 /*****************************************************************************/
 619 static PyGetSetDef Euler_getseters[] = {
 620         {(char *)"x", (getter)Euler_getAxis, (setter)Euler_setAxis, (char *)"Euler X axis in radians.\n\n:type: float", (void *)0},
 621         {(char *)"y", (getter)Euler_getAxis, (setter)Euler_setAxis, (char *)"Euler Y axis in radians.\n\n:type: float", (void *)1},
 622         {(char *)"z", (getter)Euler_getAxis, (setter)Euler_setAxis, (char *)"Euler Z axis in radians.\n\n:type: float", (void *)2},
 623         {(char *)"order", (getter)Euler_getOrder, (setter)Euler_setOrder, (char *)"Euler rotation order.\n\n:type: string in ['XYZ', 'XZY', 'YXZ', 'YZX', 'ZXY', 'ZYX']", (void *)NULL},
 624
 625         {(char *)"is_wrapped", (getter)BaseMathObject_getWrapped, (setter)NULL, (char *)BaseMathObject_Wrapped_doc, NULL},
 626         {(char *)"owner", (getter)BaseMathObject_getOwner, (setter)NULL, (char *)BaseMathObject_Owner_doc, NULL},
 627         {NULL,NULL,NULL,NULL,NULL}  /* Sentinel */
 628 };
 629
 630
 631 //-----------------------METHOD DEFINITIONS ----------------------
 632 static struct PyMethodDef Euler_methods[] = {
 633         {"zero", (PyCFunction) Euler_Zero, METH_NOARGS, Euler_Zero_doc},
 634         {"unique", (PyCFunction) Euler_Unique, METH_NOARGS, Euler_Unique_doc},
 635         {"to_matrix", (PyCFunction) Euler_ToMatrix, METH_NOARGS, Euler_ToMatrix_doc},
 636         {"to_quat", (PyCFunction) Euler_ToQuat, METH_NOARGS, Euler_ToQuat_doc},
 637         {"rotate_axis", (PyCFunction) Euler_rotate_axis, METH_VARARGS, Euler_rotate_axis_doc},
 638         {"make_compatible", (PyCFunction) Euler_MakeCompatible, METH_O, Euler_MakeCompatible_doc},
 639         {"__copy__", (PyCFunction) Euler_copy, METH_NOARGS, Euler_copy_doc},
 640         {"copy", (PyCFunction) Euler_copy, METH_NOARGS, Euler_copy_doc},
 641         {NULL, NULL, 0, NULL}
 642 };
 643
 644 //------------------PY_OBECT DEFINITION--------------------------
 645 static char euler_doc[] =
 646 "This object gives access to Eulers in Blender.";
 647
 648 PyTypeObject euler_Type = {
 649         PyVarObject_HEAD_INIT(NULL, 0)
 650         "mathutils.Euler",                                              //tp_name
 651         sizeof(EulerObject),                    //tp_basicsize
 652         0,                                                              //tp_itemsize
 653         (destructor)BaseMathObject_dealloc,             //tp_dealloc
 654         0,                                                              //tp_print
 655         0,                                                              //tp_getattr
 656         0,                                                              //tp_setattr
 657         0,                                                              //tp_compare
 658         (reprfunc) Euler_repr,                  //tp_repr
 659         0,                              //tp_as_number
 660         &Euler_SeqMethods,                              //tp_as_sequence
 661         &Euler_AsMapping,                               //tp_as_mapping
 662         0,                                                              //tp_hash
 663         0,                                                              //tp_call
 664         0,                                                              //tp_str
 665         0,                                                              //tp_getattro
 666         0,                                                              //tp_setattro
 667         0,                                                              //tp_as_buffer
 668         Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE, //tp_flags
 669         euler_doc, //tp_doc
 670         0,                                                              //tp_traverse
 671         0,                                                              //tp_clear
 672         (richcmpfunc)Euler_richcmpr,    //tp_richcompare
 673         0,                                                              //tp_weaklistoffset
 674         0,                                                              //tp_iter
 675         0,                                                              //tp_iternext
 676         Euler_methods,                                  //tp_methods
 677         0,                                                              //tp_members
 678         Euler_getseters,                                //tp_getset
 679         0,                                                              //tp_base
 680         0,                                                              //tp_dict
 681         0,                                                              //tp_descr_get
 682         0,                                                              //tp_descr_set
 683         0,                                                              //tp_dictoffset
 684         0,                                                              //tp_init
 685         0,                                                              //tp_alloc
 686         Euler_new,                                              //tp_new
 687         0,                                                              //tp_free
 688         0,                                                              //tp_is_gc
 689         0,                                                              //tp_bases
 690         0,                                                              //tp_mro
 691         0,                                                              //tp_cache
 692         0,                                                              //tp_subclasses
 693         0,                                                              //tp_weaklist
 694         0                                                               //tp_del
 695 };
 696 //------------------------newEulerObject (internal)-------------
 697 //creates a new euler object
 698 /*pass Py_WRAP - if vector is a WRAPPER for data allocated by BLENDER
 699  (i.e. it was allocated elsewhere by MEM_mallocN())
 700   pass Py_NEW - if vector is not a WRAPPER and managed by PYTHON
 701  (i.e. it must be created here with PyMEM_malloc())*/
 702 PyObject *newEulerObject(float *eul, short order, int type, PyTypeObject *base_type)
 703 {
 704         EulerObject *self;
 705
 706         if(base_type)   self = (EulerObject *)base_type->tp_alloc(base_type, 0);
 707         else                    self = PyObject_NEW(EulerObject, &euler_Type);
 708
 709         /* init callbacks as NULL */
 710         self->cb_user= NULL;
 711         self->cb_type= self->cb_subtype= 0;
 712
 713         if(type == Py_WRAP) {
 714                 self->eul = eul;
 715                 self->wrapped = Py_WRAP;
 716         }
 717         else if (type == Py_NEW){
 718                 self->eul = PyMem_Malloc(EULER_SIZE * sizeof(float));
 719                 if(eul)
 720                         copy_v3_v3(self->eul, eul);
 721                 else
 722                         zero_v3(self->eul);
 723
 724                 self->wrapped = Py_NEW;
 725         }
 726         else{
 727                 return NULL;
 728         }
 729
 730         self->order= order;
 731         return (PyObject *)self;
 732 }
 733
 734 PyObject *newEulerObject_cb(PyObject *cb_user, short order, int cb_type, int cb_subtype)
 735 {
 736         EulerObject *self= (EulerObject *)newEulerObject(NULL, order, Py_NEW, NULL);
 737         if(self) {
 738                 Py_INCREF(cb_user);
 739                 self->cb_user=                  cb_user;
 740                 self->cb_type=                  (unsigned char)cb_type;
 741                 self->cb_subtype=               (unsigned char)cb_subtype;
 742         }
 743
 744         return (PyObject *)self;
 745 }