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Account for Gimbal lock in panning

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This commit is contained in:
Grant Sanderson 2024-08-05 16:58:03 -05:00
parent 2b6ec2d95f
commit b45c71d3c2
1 changed files with 19 additions and 9 deletions
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28
manimlib/camera/camera_frame.py
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@ -1,6 +1,7 @@
from __future__ import annotations
import math
import warnings
import numpy as np
from scipy.spatial.transform import Rotation
@ -9,8 +10,10 @@ from pyrr import Matrix44
from manimlib.constants import DEGREES, RADIANS
from manimlib.constants import FRAME_SHAPE
from manimlib.constants import DOWN, LEFT, ORIGIN, OUT, RIGHT, UP
from manimlib.constants import PI
from manimlib.mobject.mobject import Mobject
from manimlib.utils.space_ops import normalize
from manimlib.utils.simple_functions import clip
from typing import TYPE_CHECKING
@ -62,9 +65,16 @@ class CameraFrame(Mobject):
def get_euler_angles(self) -> np.ndarray:
orientation = self.get_orientation()
if all(orientation.as_quat() == [0, 0, 0, 1]):
if np.isclose(orientation.as_quat(), [0, 0, 0, 1]).all():
return np.zeros(3)
return orientation.as_euler(self.euler_axes)[::-1]
with warnings.catch_warnings():
warnings.simplefilter('ignore', UserWarning) # Ignore UserWarnings
angles = orientation.as_euler(self.euler_axes)[::-1]
# Handle Gimble lock case
if np.isclose(angles[1], 0, atol=1e-2):
angles[0] = angles[0] + angles[2]
angles[2] = 0
return angles
def get_theta(self):
return self.get_euler_angles()[0]
@ -134,16 +144,16 @@ class CameraFrame(Mobject):
def increment_euler_angles(
self,
dtheta: float | None = None,
dphi: float | None = None,
dgamma: float | None = None,
dtheta: float = 0,
dphi: float = 0,
dgamma: float = 0,
units: float = RADIANS
):
angles = self.get_euler_angles()
for i, value in enumerate([dtheta, dphi, dgamma]):
if value is not None:
angles[i] += value * units
self.set_euler_angles(*angles)
new_angles = angles + np.array([dtheta, dphi, dgamma]) * units
new_angles[1] = clip(new_angles[1], 0, PI) # Limit range for phi
new_rot = Rotation.from_euler(self.euler_axes, new_angles[::-1])
self.set_orientation(new_rot)
return self
def set_euler_axes(self, seq: str):