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Add axis_normalized option to quaternion_from_angle_axis

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Grant Sanderson 2020-06-09 20:40:36 -07:00
parent a4d4ae9b47
commit 8a060dfa3f
2 changed files with 16 additions and 23 deletions
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30
manimlib/camera/camera.py
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@ -34,7 +34,7 @@ class CameraFrame(Mobject):
} }
def init_points(self): def init_points(self):
self.points = np.array([UR, UL, DL, DR]) self.points = np.array([ORIGIN, LEFT, RIGHT, DOWN, UP])
self.set_width(self.frame_shape[0], stretch=True) self.set_width(self.frame_shape[0], stretch=True)
self.set_height(self.frame_shape[1], stretch=True) self.set_height(self.frame_shape[1], stretch=True)
self.move_to(self.center_point) self.move_to(self.center_point)
@ -58,9 +58,9 @@ class CameraFrame(Mobject):
def get_inverse_camera_rotation_matrix(self): def get_inverse_camera_rotation_matrix(self):
theta, phi, gamma = self.euler_angles theta, phi, gamma = self.euler_angles
quat = quaternion_mult( quat = quaternion_mult(
quaternion_from_angle_axis(theta, OUT), quaternion_from_angle_axis(theta, OUT, axis_normalized=True),
quaternion_from_angle_axis(phi, RIGHT), quaternion_from_angle_axis(phi, RIGHT, axis_normalized=True),
quaternion_from_angle_axis(gamma, OUT), quaternion_from_angle_axis(gamma, OUT, axis_normalized=True),
) )
return rotation_matrix_transpose_from_quaternion(quat) return rotation_matrix_transpose_from_quaternion(quat)
@ -96,21 +96,15 @@ class CameraFrame(Mobject):
self.euler_angles[2] += dgamma self.euler_angles[2] += dgamma
return self return self
# def scale(self, scale_factor, **kwargs):
# # TODO, handle about_point and about_edge?
# self.frame_dimensions *= scale_factor
# return self
# def set_height(self, height, stretch=False):
# self.height = height
# return self
# def set_width(self, width, stretch=False):
# self.width = width
# return self
def get_shape(self): def get_shape(self):
return (self.get_width(), self.get_height()) return (
self.points[:, 0].max() - self.points[:, 0].min(),
self.points[:, 1].max() - self.points[:, 1].min(),
)
def get_center(self):
# Assumes first point is at the center
return self.points[0]
def get_focal_distance(self): def get_focal_distance(self):
return self.focal_distance return self.focal_distance

9
manimlib/utils/space_ops.py
View file

@ -35,11 +35,10 @@ def quaternion_mult(*quats):
return result return result
def quaternion_from_angle_axis(angle, axis): def quaternion_from_angle_axis(angle, axis, axis_normalized=False):
return [ if not axis_normalized:
math.cos(angle / 2), axis = normalize(axis)
*(math.sin(angle / 2) * normalize(axis)) return [math.cos(angle / 2), *(math.sin(angle / 2) * axis)]
]
def angle_axis_from_quaternion(quaternion): def angle_axis_from_quaternion(quaternion):