Add `lerp_slerp` to isometries for interpolation.
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@ -35,6 +35,14 @@ pub trait AbstractRotation<N: Scalar, D: DimName>: PartialEq + ClosedMul + Clone
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fn inverse_transform_point(&self, p: &Point<N, D>) -> Point<N, D>
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where
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DefaultAllocator: Allocator<N, D>;
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/// Perfom a spherical interpolation between two rolations.
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fn slerp(&self, other: &Self, t: N) -> Self
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where
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DefaultAllocator: Allocator<N, D>;
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/// Attempts to perfom a spherical interpolation between two rolations.
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fn try_slerp(&self, other: &Self, t: N, epsilon: N) -> Option<Self>
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where
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DefaultAllocator: Allocator<N, D>;
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}
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impl<N: SimdRealField, D: DimName> AbstractRotation<N, D> for Rotation<N, D>
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@ -96,6 +104,22 @@ where
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{
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self.inverse_transform_point(p)
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}
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#[inline]
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fn slerp(&self, other: &Self, t: N) -> Self
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where
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DefaultAllocator: Allocator<N, D>,
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{
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self.slerp(other, t)
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}
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#[inline]
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fn try_slerp(&self, other: &Self, t: N, epsilon: N) -> Option<Self>
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where
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DefaultAllocator: Allocator<N, D>,
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{
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self.try_slerp(other, t, epsilon)
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}
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}
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impl<N: SimdRealField> AbstractRotation<N, U3> for UnitQuaternion<N>
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@ -136,6 +160,16 @@ where
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fn inverse_transform_point(&self, p: &Point<N, U3>) -> Point<N, U3> {
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self.inverse_transform_point(p)
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}
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#[inline]
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fn slerp(&self, other: &Self, t: N) -> Self {
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self.slerp(other, t)
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}
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#[inline]
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fn try_slerp(&self, other: &Self, t: N, epsilon: N) -> Option<Self> {
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self.try_slerp(other, t, epsilon)
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}
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}
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impl<N: SimdRealField> AbstractRotation<N, U2> for UnitComplex<N>
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@ -176,4 +210,14 @@ where
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fn inverse_transform_point(&self, p: &Point<N, U2>) -> Point<N, U2> {
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self.inverse_transform_point(p)
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}
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#[inline]
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fn slerp(&self, other: &Self, t: N) -> Self {
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self.slerp(other, t)
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}
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#[inline]
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fn try_slerp(&self, other: &Self, t: N, epsilon: N) -> Option<Self> {
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self.try_slerp(other, t, epsilon)
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}
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}
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@ -373,6 +373,72 @@ where
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pub fn inverse_transform_unit_vector(&self, v: &Unit<VectorN<N, D>>) -> Unit<VectorN<N, D>> {
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self.rotation.inverse_transform_unit_vector(v)
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}
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/// Interpolates between two isometries using a linear interpolation for the translation part,
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/// and a spherical interpolation for the rotation part.
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///
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/// Panics if the angle between both rotations is 180 degrees (in which case the interpolation
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/// is not well-defined). Use `.try_lerp_slerp` instead to avoid the panic.
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///
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/// # Examples:
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///
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/// ```
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/// # use nalgebra::geometry::{Translation3, UnitQuaternion};
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///
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/// let t1 = Translation3::new(1.0, 2.0, 3.0);
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/// let t2 = Translation3::new(3.0, 6.0, 9.0);
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/// let q1 = UnitQuaternion::from_euler_angles(std::f32::consts::FRAC_PI_4, 0.0, 0.0);
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/// let q2 = UnitQuaternion::from_euler_angles(-std::f32::consts::PI, 0.0, 0.0);
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/// let iso1 = Isometry3::from_parts(t1, q1);
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/// let iso2 = Isometry3::from_parts(t2, q2);
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///
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/// let iso3 = iso1.lerp_slerp(&iso2, 1.0 / 3.0);
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///
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/// assert_eq!(iso3.translation_vector, Vector3::new(2.0, 4.0, 6.0));
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/// assert_eq!(iso3.rotation.euler_angles(), (std::f32::consts::FRAC_PI_2, 0.0, 0.0));
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/// ```
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#[inline]
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pub fn lerp_slerp(&self, other: &Self, t: N) -> Self
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where
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N: RealField,
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{
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let tr = self.translation.vector.lerp(&other.translation.vector, t);
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let rot = self.rotation.slerp(&other.rotation, t);
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Self::from_parts(tr.into(), rot)
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}
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/// Attempts to interpolate between two isometries using a linear interpolation for the translation part,
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/// and a spherical interpolation for the rotation part.
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///
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/// Retuns `None` if the angle between both rotations is 180 degrees (in which case the interpolation
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/// is not well-defined).
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///
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/// # Examples:
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///
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/// ```
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/// # use nalgebra::geometry::{Translation3, UnitQuaternion};
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///
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/// let t1 = Translation3::new(1.0, 2.0, 3.0);
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/// let t2 = Translation3::new(3.0, 6.0, 9.0);
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/// let q1 = UnitQuaternion::from_euler_angles(std::f32::consts::FRAC_PI_4, 0.0, 0.0);
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/// let q2 = UnitQuaternion::from_euler_angles(-std::f32::consts::PI, 0.0, 0.0);
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/// let iso1 = Isometry3::from_parts(t1, q1);
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/// let iso2 = Isometry3::from_parts(t2, q2);
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///
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/// let iso3 = iso1.lerp_slerp(&iso2, 1.0 / 3.0);
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///
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/// assert_eq!(iso3.translation_vector, Vector3::new(2.0, 4.0, 6.0));
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/// assert_eq!(iso3.rotation.euler_angles(), (std::f32::consts::FRAC_PI_2, 0.0, 0.0));
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/// ```
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#[inline]
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pub fn try_lerp_slerp(&self, other: &Self, t: N, epsilon: N) -> Option<Self>
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where
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N: RealField,
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{
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let tr = self.translation.vector.lerp(&other.translation.vector, t);
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let rot = self.rotation.try_slerp(&other.rotation, t, epsilon)?;
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Some(Self::from_parts(tr.into(), rot))
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}
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}
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// NOTE: we don't require `R: Rotation<...>` here because this is not useful for the implementation
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