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Commitf059296

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Fix 3D rotation precession
Fix arcsin domain errorRevert to simplified trigLintingtests
1 parentf8592cb commitf059296

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2 files changed

+13
-10
lines changed

2 files changed

+13
-10
lines changed

‎lib/mpl_toolkits/mplot3d/axes3d.py

Lines changed: 8 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -1568,10 +1568,11 @@ def _on_move(self, event):
15681568
q=_Quaternion.from_cardan_angles(elev,azim,roll)
15691569

15701570
# Update quaternion - a variation on Ken Shoemake's ARCBALL
1571-
current_vec=self._arcball(self._sx/w,self._sy/h)
1572-
new_vec=self._arcball(x/w,y/h)
1571+
scale=np.sqrt(2)/2# slow down the rate of rotation
1572+
current_vec=self._arcball(self._sx*scale/w,self._sy*scale/h)
1573+
new_vec=self._arcball(x*scale/w,y*scale/h)
15731574
dq=_Quaternion.rotate_from_to(current_vec,new_vec)
1574-
q=dq*q
1575+
q=dq*dq*q
15751576

15761577
# Convert to elev, azim, roll
15771578
elev,azim,roll=q.as_cardan_angles()
@@ -4020,11 +4021,14 @@ def from_cardan_angles(cls, elev, azim, roll):
40204021
defas_cardan_angles(self):
40214022
"""
40224023
The inverse of `from_cardan_angles()`.
4024+
This function acts on the quaternion as if it were unit normed.
40234025
Note that the angles returned are in radians, not degrees.
40244026
"""
40254027
qw=self.scalar
40264028
qx,qy,qz=self.vector[..., :]
40274029
azim=np.arctan2(2*(-qw*qz+qx*qy),qw*qw+qx*qx-qy*qy-qz*qz)
4028-
elev=np.arcsin(2*(qw*qy+qz*qx)/(qw*qw+qx*qx+qy*qy+qz*qz))# noqa E201
4030+
# Clip below is to avoid floating point round-off errors
4031+
elev=np.arcsin(np.clip(2*(qw*qy+qz*qx)
4032+
/ (qw*qw+qx*qx+qy*qy+qz*qz),-1,1))
40294033
roll=np.arctan2(2*(qw*qx-qy*qz),qw*qw-qx*qx-qy*qy+qz*qz)# noqa E201
40304034
returnelev,azim,roll

‎lib/mpl_toolkits/mplot3d/tests/test_axes3d.py

Lines changed: 5 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -1950,10 +1950,10 @@ def test_rotate():
19501950
forroll,dx,dy,new_elev,new_azim,new_rollin [
19511951
[0,0.5,0,0,-90,0],
19521952
[30,0.5,0,30,-90,0],
1953-
[0,0,0.5,-90,0,0],
1953+
[0,0,0.5,-90,-180,180],
19541954
[30,0,0.5,-60,-90,90],
1955-
[0,0.5,0.5,-45,-90,45],
1956-
[30,0.5,0.5,-15,-90,45]]:
1955+
[0,np.sqrt(2)/4,np.sqrt(2)/4,-45,-90,45],
1956+
[30,np.sqrt(2)/4,np.sqrt(2)/4,-15,-90,45]]:
19571957
fig=plt.figure()
19581958
ax=fig.add_subplot(1,1,1,projection='3d')
19591959
ax.view_init(0,0,roll)
@@ -1967,9 +1967,8 @@ def test_rotate():
19671967
xdata=dx*ax._pseudo_w,ydata=dy*ax._pseudo_h))
19681968
fig.canvas.draw()
19691969

1970-
assertnp.isclose(ax.elev,new_elev)
1971-
assertnp.isclose(ax.azim,new_azim)
1972-
assertnp.isclose(ax.roll,new_roll)
1970+
np.testing.assert_allclose((ax.elev,ax.azim,ax.roll),
1971+
(new_elev,new_azim,new_roll),atol=1e-6)
19731972

19741973

19751974
deftest_pan():

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