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mathutils: added exponential map to Quaternion

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Added conversion to and from exponential map representation. This
representation is useful for interpolation of > 2 quaternions, or in
PD controllers.

Implementation in C functions quat_to_expmap,
quat_normalized_to_expmap, and expmap_to_quat with Python API, unit
tests and documentation.

Added Quaternion.to_exponential_map() and Quaternion(3-vector) to
Python API.

Reviewers: campbellbarton

Projects: #bf_blender

Differential Revision: https://developer.blender.org/D1049
This commit is contained in:
Sybren A. Stüvel
2015-02-01 11:58:10 +01:00
parent 8c7e1b648b
commit 9fa628f35b
5 changed files with 117 additions and 2 deletions
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40
source/blender/python/mathutils/mathutils_Quaternion.c
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@@ -177,6 +177,28 @@ static PyObject *Quaternion_to_axis_angle(QuaternionObject *self)
return ret;
}
PyDoc_STRVAR(Quaternion_to_exponential_map_doc,
".. method:: to_exponential_map()\n"
"\n"
" Return the exponential map representation of the quaternion.\n"
"\n"
" This representation consist of the rotation axis multiplied by the rotation angle."
" Such a representation is useful for interpolation between multiple orientations.\n"
"\n"
" :return: exponential map.\n"
" :rtype: :class:`Vector` of size 3\n"
);
static PyObject *Quaternion_to_exponential_map(QuaternionObject *self)
{
float expmap[3];
if (BaseMath_ReadCallback(self) == -1)
return NULL;
quat_to_expmap(expmap, self->quat);
return Vector_CreatePyObject(expmap, 3, NULL);
}
PyDoc_STRVAR(Quaternion_cross_doc,
".. method:: cross(other)\n"
"\n"
@@ -1077,9 +1099,24 @@ static PyObject *Quaternion_new(PyTypeObject *type, PyObject *args, PyObject *kw
case 0:
break;
case 1:
if (mathutils_array_parse(quat, QUAT_SIZE, QUAT_SIZE, seq, "mathutils.Quaternion()") == -1)
{
int size;
if ((size = mathutils_array_parse(quat, 3, QUAT_SIZE, seq, "mathutils.Quaternion()")) == -1) {
return NULL;
}
if (size == 4) {
/* 4d: Quaternion (common case) */
}
else {
/* 3d: Interpret as exponential map */
BLI_assert(size == 3);
expmap_to_quat(quat, quat);
}
break;
}
case 2:
{
float axis[3];
@@ -1156,6 +1193,7 @@ static struct PyMethodDef Quaternion_methods[] = {
{"to_euler", (PyCFunction) Quaternion_to_euler, METH_VARARGS, Quaternion_to_euler_doc},
{"to_matrix", (PyCFunction) Quaternion_to_matrix, METH_NOARGS, Quaternion_to_matrix_doc},
{"to_axis_angle", (PyCFunction) Quaternion_to_axis_angle, METH_NOARGS, Quaternion_to_axis_angle_doc},
{"to_exponential_map", (PyCFunction) Quaternion_to_exponential_map, METH_NOARGS, Quaternion_to_exponential_map_doc},
/* operation between 2 or more types */
{"cross", (PyCFunction) Quaternion_cross, METH_O, Quaternion_cross_doc},