Fixed GLViewWidget Gimbal Lock with Quaternion Parametrization (#909)
* Fixed GLViewWidget Gimbal Lock with Quaternion Parametrization * fixed rotation name * fixes extraneous pos argument and restore compatibility * remove redundant getAxisAngle() in rotation (for Qt4 compatibility) * GLViewWidget takes rotationMethod parameter * Avoid merge conflict * Fix docstring Co-authored-by: Ogi Moore <ognyan.moore@gmail.com>
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Yoonyoung (Jamie) Cho
GitHub
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@ -10,18 +10,26 @@ from .. import functions as fn
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ShareWidget = None
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class GLViewWidget(QtOpenGL.QGLWidget):
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"""
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Basic widget for displaying 3D data
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def __init__(self, parent=None, devicePixelRatio=None, rotationMethod='euler'):
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"""
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Basic widget for displaying 3D data
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- Rotation/scale controls
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- Axis/grid display
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- Export options
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High-DPI displays: Qt5 should automatically detect the correct resolution.
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For Qt4, specify the ``devicePixelRatio`` argument when initializing the
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widget (usually this value is 1-2).
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"""
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def __init__(self, parent=None, devicePixelRatio=None):
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================ ==============================================================
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**Arguments:**
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parent (QObject, optional): Parent QObject. Defaults to None.
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devicePixelRatio (float, optional): High-DPI displays Qt5 should automatically
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detect the correct resolution. For Qt4, specify the
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``devicePixelRatio`` argument when initializing the widget
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(usually this value is 1-2). Defaults to None.
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rotationMethod (str): Mechanimsm to drive the rotation method, options are
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'euler' and 'quaternion'. Defaults to 'euler'.
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================ ==============================================================
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"""
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global ShareWidget
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if ShareWidget is None:
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@ -31,8 +39,21 @@ class GLViewWidget(QtOpenGL.QGLWidget):
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QtOpenGL.QGLWidget.__init__(self, parent, ShareWidget)
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self.setFocusPolicy(QtCore.Qt.ClickFocus)
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if rotationMethod not in {"euler", "quaternion"}:
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raise RuntimeError("Rotation method should be either 'euler' or 'quaternion'")
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self.opts = {
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'devicePixelRatio': devicePixelRatio
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'center': Vector(0,0,0), ## will always appear at the center of the widget
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'rotation' : QtGui.QQuaternion(1,0,0,0), ## camera rotation (quaternion:wxyz)
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'distance': 10.0, ## distance of camera from center
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'fov': 60, ## horizontal field of view in degrees
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'elevation': 30, ## camera's angle of elevation in degrees
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'azimuth': 45, ## camera's azimuthal angle in degrees
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## (rotation around z-axis 0 points along x-axis)
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'viewport': None, ## glViewport params; None == whole widget
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'devicePixelRatio': devicePixelRatio,
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'rotationMethod': rotationMethod
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}
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self.reset()
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self.items = []
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@ -162,8 +183,12 @@ class GLViewWidget(QtOpenGL.QGLWidget):
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def viewMatrix(self):
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tr = QtGui.QMatrix4x4()
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tr.translate( 0.0, 0.0, -self.opts['distance'])
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tr.rotate(self.opts['elevation']-90, 1, 0, 0)
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tr.rotate(self.opts['azimuth']+90, 0, 0, -1)
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if self.opts['rotationMethod'] == 'quaternion':
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tr.rotate(self.opts['rotation'])
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else:
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# default rotation method
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tr.rotate(self.opts['elevation']-90, 1, 0, 0)
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tr.rotate(self.opts['azimuth']+90, 0, 0, -1)
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center = self.opts['center']
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tr.translate(-center.x(), -center.y(), -center.z())
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return tr
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@ -251,36 +276,52 @@ class GLViewWidget(QtOpenGL.QGLWidget):
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glMatrixMode(GL_MODELVIEW)
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glPopMatrix()
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def setCameraPosition(self, pos=None, distance=None, elevation=None, azimuth=None):
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def setCameraPosition(self, pos=None, distance=None, elevation=None, azimuth=None, rotation=None):
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if pos is not None:
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self.opts['center'] = pos
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if distance is not None:
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self.opts['distance'] = distance
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if elevation is not None:
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self.opts['elevation'] = elevation
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if azimuth is not None:
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self.opts['azimuth'] = azimuth
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if rotation is not None:
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# set with quaternion
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self.opts['rotation'] = rotation
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else:
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# set with elevation-azimuth, restored for compatibility
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eu = self.opts['rotation'].toEulerAngles()
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if azimuth is not None:
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eu.setZ(-azimuth-90)
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if elevation is not None:
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eu.setX(elevation-90)
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self.opts['rotation'] = QtGui.QQuaternion.fromEulerAngles(eu)
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self.update()
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def cameraPosition(self):
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"""Return current position of camera based on center, dist, elevation, and azimuth"""
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center = self.opts['center']
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dist = self.opts['distance']
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elev = self.opts['elevation'] * np.pi/180.
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azim = self.opts['azimuth'] * np.pi/180.
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pos = Vector(
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center.x() + dist * np.cos(elev) * np.cos(azim),
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center.y() + dist * np.cos(elev) * np.sin(azim),
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center.z() + dist * np.sin(elev)
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)
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if self.opts['rotationMethod'] == "quaternion":
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pos = center - self.opts['rotation'].rotatedVector( Vector(0,0,dist) )
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else:
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# using 'euler' rotation method
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elev = self.opts['elevation'] * np.pi / 180
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azim = self.opts['azimuth'] * np.pi / 180
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pos = Vector(
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center.x() + dist * np.cos(elev) * np.cos(azim),
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center.y() + dist * np.cos(elev) * np.sin(azim),
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center.z() + dist * np.sin(elev)
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)
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return pos
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def orbit(self, azim, elev):
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"""Orbits the camera around the center position. *azim* and *elev* are given in degrees."""
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self.opts['azimuth'] += azim
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self.opts['elevation'] = np.clip(self.opts['elevation'] + elev, -90, 90)
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if self.opts['rotationMethod'] == 'quaternion':
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q = QtGui.QQuaternion.fromEulerAngles(
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elev, -azim, 0
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) # rx-ry-rz
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q *= self.opts['rotation']
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self.opts['rotation'] = q
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else: # default euler rotation method
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self.opts['azimuth'] += azim
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self.opts['elevation'] = np.clip(self.opts['elevation'] + elev, -90, 90)
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self.update()
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def pan(self, dx, dy, dz, relative='global'):
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@ -326,16 +367,29 @@ class GLViewWidget(QtOpenGL.QGLWidget):
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self.opts['center'] = self.opts['center'] + xVec * xScale * dx + yVec * xScale * dy + zVec * xScale * dz
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elif relative == 'view':
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# pan in plane of camera
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elev = np.radians(self.opts['elevation'])
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azim = np.radians(self.opts['azimuth'])
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fov = np.radians(self.opts['fov'])
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dist = (self.opts['center'] - self.cameraPosition()).length()
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fov_factor = np.tan(fov / 2) * 2
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scale_factor = dist * fov_factor / self.width()
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z = scale_factor * np.cos(elev) * dy
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x = scale_factor * (np.sin(azim) * dx - np.sin(elev) * np.cos(azim) * dy)
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y = scale_factor * (np.cos(azim) * dx + np.sin(elev) * np.sin(azim) * dy)
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self.opts['center'] += QtGui.QVector3D(x, -y, z)
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if self.opts['rotationMethod'] == 'quaternion':
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# obtain basis vectors
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qc = self.opts['rotation'].conjugated()
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xv = qc.rotatedVector( Vector(1,0,0) )
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yv = qc.rotatedVector( Vector(0,1,0) )
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zv = qc.rotatedVector( Vector(0,0,1) )
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scale_factor = self.pixelSize( self.opts['center'] )
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# apply translation
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self.opts['center'] += scale_factor * (xv*-dx + yv*dy + zv*dz)
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else: # use default euler rotation method
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elev = np.radians(self.opts['elevation'])
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azim = np.radians(self.opts['azimuth'])
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fov = np.radians(self.opts['fov'])
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dist = (self.opts['center'] - self.camerPosition()).length()
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fov_factor = np.tan(fov / 2) * 2
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scale_factor = dist * fov_factor / self.width()
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z = scale_factor * np.cos(elev) * dy
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x = scale_factor * (np.sin(azim) * dx - np.sin(elev) * np.cos(azim) * dy)
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y = scale_factor * (np.cos(azim) * dx + np.sin(elev) * np.sin(azim) * dy)
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self.opts['center'] += QtGui.QVector3D(x, -y, z)
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else:
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raise ValueError("relative argument must be global, view, or view-upright")
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