def slerp_rotations(self,index_start,index_current,index_end):
"""
http://en.wikipedia.org/wiki/Slerp
http://cgkit.sourceforge.net/doc2/cgtypes.html?highlight=slerp#cgkit.cgtypes.slerp
"""
from cgkit.cgtypes import quat, mat3, slerp
def get_quaternion_from_matrix(matrix):
q = quat()
mat = mat3([num for row in matrix for num in row])
mat = mat.decompose()[0]
q.fromMat(mat)
return q
if index_start == index_end:
t = 0
else:
t = float(index_current-index_start)/float(index_end-index_start)
q_start = get_quaternion_from_matrix(self.rotations[index_start])
q_end = get_quaternion_from_matrix(self.rotations[index_end])
if t==0:
q_current = q_start
else:
q_current = slerp(t,q_start,q_end)
mat_current = q_current.toMat3()
list_current = []
for i in range(3):
list_current.append([])
for j in range(3):
list_current[i].append(mat_current[i,j])
return list_current
def slerp_rotations(self,index_start,index_current,index_end):
"""
http://en.wikipedia.org/wiki/Slerp
http://cgkit.sourceforge.net/doc2/cgtypes.html?highlight=slerp#cgkit.cgtypes.slerp
"""
from cgkit.cgtypes import quat, mat3, slerp
def get_quaternion_from_matrix(matrix):
q = quat()
mat = mat3([num for row in matrix for num in row])
mat = mat.decompose()[0]
q.fromMat(mat)
return q
if index_start == index_end:
t = 0
else:
t = float(index_current-index_start)/float(index_end-index_start)
q_start = get_quaternion_from_matrix(self.rotations[index_start])
q_end = get_quaternion_from_matrix(self.rotations[index_end])
if t==0:
q_current = q_start
else:
q_current = slerp(t,q_start,q_end)
mat_current = q_current.toMat3()
list_current = []
for i in range(3):
list_current.append([])
for j in range(3):
list_current[i].append(mat_current[i,j])
return list_current
def num_q_lerp(qA, qB, weight):
assert (True not in [(math.isnan(x) or math.isinf(x)) for x in qA + qB])
eulerA, eulerB = qA[3:dof], qB[3:dof]
quatA, quatB = num_euler_to_quat(eulerA), num_euler_to_quat(eulerB)
posA, posB = qA[:3], qB[:3]
newQuat = cgtypes.slerp(weight, quatA, quatB)
newEuler = num_quat_to_euler(newQuat)
newPos = vec3_lerp(posA, posB, weight)
ret = newPos + newEuler
return ret
def num_q_lerp(qA, qB, weight): assert(True not in [(math.isnan(x) or math.isinf(x)) for x in qA+qB]) eulerA, eulerB = qA[3:dof], qB[3:dof] quatA, quatB = num_euler_to_quat(eulerA), num_euler_to_quat(eulerB) posA, posB = qA[:3], qB[:3] newQuat = cgtypes.slerp(weight, quatA, quatB) newEuler = num_quat_to_euler(newQuat) newPos = vec3_lerp(posA, posB, weight) ret = newPos + newEuler return ret