def setViewDirection(self, direction):
if direction.normSquared() < 1E-10:
return
xAxis = Vec(direction.cross(self.upVec))
if xAxis.normSquared() < 1E-10:
xAxis = Vec([1.0, 0.0, 0.0])
#piet = xAxis.cross(direction)
#print "xAxis: ", xAxis, " direction: ", direction, " cross: " , piet
q = Quaternion()
q.setFromRotatedBasis(xAxis, xAxis.cross(direction), -direction)
self.setAltOrientation(q)
def setViewDirection(self, direction):
if direction.normSquared() < 1E-10:
return
xAxis = Vec(direction.cross(self.upVec))
if xAxis.normSquared() < 1E-10:
xAxis = Vec([1.0, 0.0, 0.0])
#piet = xAxis.cross(direction)
#print "xAxis: ", xAxis, " direction: ", direction, " cross: " , piet
q = Quaternion()
q.setFromRotatedBasis(xAxis, xAxis.cross(direction), -direction)
self.setAltOrientation(q)
def fromDirection(self, vFrom, vTo):
vFrom = Vec(vFrom)
vTo = Vec(vTo)
epsilon = 1E-10
fromLengthSq = vFrom.normSquared()
toLengthSq = vTo.normSquared()
if (fromLengthSq < epsilon) or (toLengthSq < epsilon):
self.quaternion[0] = self.quaternion[1] = self.quaternion[2] = 0.0
self.quaternion[3] = 1.0
else:
axis = vTo.cross(vFrom)
axisLengthSq = axis.normSquared()
if axisLengthSq < epsilon:
if (math.fabs(vFrom[1]) >= math.fabs(vFrom[0])) and (math.fabs(
vFrom[2]) >= math.fabs(vFrom[0])):
axis[0] = 0.0
axis[1] = -vFrom[2]
axis[2] = vFrom[0]
elif (math.fabs(vFrom[0]) >= math.fabs(vFrom[1])) and (
math.fabs(vFrom[2]) >= math.fabs(vFrom[1])):
axis[0] = -vFrom[2]
axis[1] = 0.0
axis[2] = vFrom[0]
else:
axis[0] = -vFrom[1]
axis[1] = vFrom[0]
axis[2] = 0.0
squareroot = math.sqrt(axisLengthSq / (fromLengthSq * toLengthSq))
if squareroot > 1.0:
squareroot = 1.0
elif squareroot < -1.0:
squareroot = -1.0
angle = math.asin(squareroot)
if vFrom.dot(vTo) < 0.0:
angle = math.pi - angle
self.fromAxisAngle(axis, angle)
def fromDirection(self, vFrom, vTo):
vFrom = Vec(vFrom)
vTo = Vec(vTo)
epsilon = 1E-10
fromLengthSq = vFrom.normSquared()
toLengthSq = vTo.normSquared()
if (fromLengthSq < epsilon) or (toLengthSq < epsilon):
self.quaternion[0] = self.quaternion[1] = self.quaternion[2] = 0.0
self.quaternion[3] = 1.0
else:
axis = vTo.cross(vFrom)
axisLengthSq = axis.normSquared()
if axisLengthSq < epsilon:
if (math.fabs(vFrom[1]) >= math.fabs(vFrom[0])) and (math.fabs(vFrom[2]) >= math.fabs(vFrom[0])):
axis[0] = 0.0
axis[1] = -vFrom[2]
axis[2] = vFrom[0]
elif (math.fabs(vFrom[0]) >= math.fabs(vFrom[1])) and (math.fabs(vFrom[2]) >= math.fabs(vFrom[1])):
axis[0] = -vFrom[2]
axis[1] = 0.0
axis[2] = vFrom[0]
else:
axis[0] = -vFrom[1]
axis[1] = vFrom[0]
axis[2] = 0.0
squareroot = math.sqrt(axisLengthSq / (fromLengthSq * toLengthSq))
if squareroot > 1.0:
squareroot = 1.0
elif squareroot < -1.0:
squareroot = -1.0
angle = math.asin(squareroot)
if vFrom.dot(vTo) < 0.0:
angle = math.pi - angle
self.fromAxisAngle(axis, angle)