def test15_quat_to_euler(package):
Quaternion4f, Array3f, Float = package.Quaternion4f, package.Array3f, package.Float
prepare(package)
# Gimbal lock at +pi/2
q = Quaternion4f(0, 1.0 / np.sqrt(2), 0, 1.0 / np.sqrt(2))
assert(ek.allclose(ek.quat_to_euler(q), Array3f(0, np.pi / 2, 0)))
# Gimbal lock at -pi/2
q = Quaternion4f(0, -1.0 / np.sqrt(2), 0, 1.0 / np.sqrt(2))
assert(ek.allclose(ek.quat_to_euler(q), Array3f(0, -np.pi / 2, 0)))
# Quaternion without gimbal lock
q = Quaternion4f(0.15849363803863525, 0.5915063619613647, 0.15849363803863525, 0.7745190262794495)
e = Array3f(np.pi / 3, np.pi / 3, np.pi / 3)
assert(ek.allclose(ek.quat_to_euler(q), e))
# Round trip
assert(ek.allclose(e, ek.quat_to_euler(ek.euler_to_quat(e))))
# Euler -> Quat
assert(ek.allclose(q, ek.euler_to_quat(e)))
def decompose_transform(self, transform, export_scale = False):
'''
Export a transform as a combination of rotation, scale and translation.
This helps manually modifying the transform after export (for cameras for instance)
Params
------
transform: The Transform4f transform matrix to decompose
export_scale: Whether to add a scale property or not. (e.g. don't do it for cameras to avoid clutter)
'''
from enoki import transform_decompose, quat_to_euler
scale, quat, trans = transform_decompose(transform.matrix)
rot = quat_to_euler(quat)
params = {}
if rot[0] != 0.0:
params['rotate_x'] = {
'type': 'rotate',
'x': '1',
'angle': rot[0] * 180 / np.pi
}
if rot[1] != 0.0:
params['rotate_y'] = {
'type': 'rotate',
'y': '1',
'angle': rot[1] * 180 / np.pi
}
if rot[2] != 0.0:
params['rotate_z'] = {
'type': 'rotate',
'z': '1',
'angle': rot[2] * 180 / np.pi
}
if export_scale and scale != 1.0:
params['scale'] = {
'type': 'scale',
'value': "%f %f %f" % (scale[0,0], scale[1,1], scale[2,2])
}
if trans != 0.0:
params['translate'] = {
'type': 'translate',
'value': "%f %f %f" % (trans[0], trans[1], trans[2])
}
return params