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[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]# Re: [Numbers][Geometry] Where to define "quaternion" (Was: Making Quaternion a VALJO)

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On Sun, 2 Dec 2018 19:20:03 +0000, Matt Juntunen wrote:

Unless anyone objects, I'm going to continue with what I'm working on

I certainly don't object on your working to improve the geometry code, but wherever that work overlaps with code being worked on elsewhere (in this case, the "Quaternion" class), then we'd rather have a discussion happening here first.

with QuaternionRotation and create a merge request. That way, we'llatleast have a reference implementation and baseline functionality for commons-geometry that we can modify later based on what's decided here.

My questions below are a start; I'm waiting for answers. Code duplication is bad (TM). Regards, Gilles

-Matt ________________________________ From: Gilles <gilles@xxxxxxxxxxxxxxxxxxxxx> Sent: Saturday, December 1, 2018 9:40 PM To: dev@xxxxxxxxxxxxxxxxxx Subject: Re: [Numbers][Geometry] Where to define "quaternion" (Was: Making Quaternion a VALJO) On Sat, 01 Dec 2018 12:56:34 +0100, Gilles wrote:Hello. On Sat, 1 Dec 2018 06:05:31 +0000, Matt Juntunen wrote:Hi guys, FYI, I've been working on a quaternion-related class named QuaternionRotation for commons-geometry (see link below). It includes slerp as well as several other geometry-oriented methods, such as conversion to/from axis-angle representations and creation from basis rotations. It's not quite ready for a merge yet since I still need to finish the Euler angle conversions. I did not use the Quaternion class from commons-numbers since I wanted to focus solely on using quaternions to represent 3D rotations. I felt like the commons-numbers class was too general for this.We need to explore further how to avoid duplication. Some questions: * Should "QuaternionRotation" inherit from "Quaternion"? * Should "Quaternion" be defined in [Geometry] (and removed from [Numbers])? * Are some utilities defined in "QuaternionRotation" general such that they could be part of the [Numbers] "Quaternion" API. An example might be the transformation between quaternion and matrix (represented as a double[3][3])? The second consideration could apply to any computation that does not require types defined in [Geometry]. For example, interpolation is a purely quaternion-internal operation.s/second/third/It looks to me that it should be possible to come up with a design that defines "rotation" in [Geometry] which uses a "quaternion" defined in [Numbers]. Otherwise, one would wonder why "Complex" is also not in [Geometry] (for 2D rotations). Best regards, GillesRegards, Matt https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java [https://avatars1.githubusercontent.com/u/3809623?s=400&v=4]<https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java> darkma773r/commons-geometry<https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java> Apache Commons Geometry. Contribute to darkma773r/commons-geometry development by creating an account on GitHub. github.com ________________________________ From: Gilles <gilles@xxxxxxxxxxxxxxxxxxxxx> Sent: Friday, November 30, 2018 9:37 AM To: dev@xxxxxxxxxxxxxxxxxx Subject: Re: [numbers] Making Quaternion a VALJO On Fri, 30 Nov 2018 14:22:45 +0000, Steve Bosman wrote:> and I have also emailed an ICLA.Not received/acknowledged yet.I am now listed on the "Persons with signed CLAs but who are not (yet) committers." page.Welcome!> I think two convenience divide methods performing qr^{-1} and r^{-1}q > for q > and r would be useful, but I couldn't think of nice names for them.What are the use-cases? Why aren't "multiply" and "inverse" enough?I must admit I'm new to quaternions and stumbled into the project while trying to improve my understanding so I'm not going to claim great knowledge of how common these operations are. I was primarily thinking ofQuaternion Interpolation - SLERP and SQUAD. It seems to me thatyouend up creating inverse instances and throwing them away a lot and I thought it would be good to reduce that overhead.Surely, the class "Quaternion" is minimal but, before adding to the API, we be careful to have use-cases for low-level operations. Those mentioned above seems more high-level, tied to a specific domain (see also "Commons Geometry", another new component not yet released) but I may be wrong... Regards, GillesSteve

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