[ENH]: Natural 3D rotation with mouse #28288
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MischaMegens2
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May 24, 2024
- Addresses Issue matplotlib#28288 - Introduces three-dimensional rotation by mouse using a variation on Ken Shoemake's ARCBALL - Provides a minimal Quaternion class, to avoid an additional dependency on a large package like 'numpy-quaternion'
MischaMegens2
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May 24, 2024
- Addresses Issue matplotlib#28288 - Introduces three-dimensional rotation by mouse using a variation on Ken Shoemake's ARCBALL - Provides a minimal Quaternion class, to avoid an additional dependency on a large package like 'numpy-quaternion'
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This what the mouse rotation looks like on the elev_azim.mov(you can see the figure sometimes rotates, when you'd think it should tilt; or it moves in the opposite direction as the mouse). arcball.mov(Now the movement is much more consistent: the figure tilts up/down, left/right if you move the mouse up/down, left/right near the center; near the edge, the mouse rotates the figure). |
MischaMegens2
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Jun 3, 2024
- Addresses Issue matplotlib#28288 - Introduces three-dimensional rotation by mouse using a variation on Ken Shoemake's ARCBALL - Provides a minimal Quaternion class, to avoid an additional dependency on a large package like 'numpy-quaternion'
MischaMegens2
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Jun 4, 2024
- Addresses Issue matplotlib#28288 - Introduces three-dimensional rotation by mouse using a variation on Ken Shoemake's ARCBALL - Provides a minimal Quaternion class, to avoid an additional dependency on a large package like 'numpy-quaternion'
scottshambaugh
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Jun 5, 2024
* Natural 3D rotation with mouse - Addresses Issue #28288 - Introduces three-dimensional rotation by mouse using a variation on Ken Shoemake's ARCBALL - Provides a minimal Quaternion class, to avoid an additional dependency on a large package like 'numpy-quaternion' * Suggestions from reviewers - makes axes3d.Quaternion a private _Quaternion class - shortens as_cardan_angles() - adds two extra tests to test_axes3d::test_quaternion(): from_cardan_angles() should return a unit quaternion, and as_cardan_angles() should be insensitive to quaternion magnitude - updates "mplot3d View Angles" documentation (the mouse can control both azimuth, elevation, and roll; and matlab does have a roll angle nowadays) - put in a reference to quaternion multiplication using scalar and vector parts (wikipedia) - rename class method that constructs a quaternion from two vectors to `rotate_from_to()` - clarify docstring: "The quaternion for the shortest rotation from vector r1 to vector r2" - issue warning when vectors are anti-parallel: "shortest rotation is ambiguous" - construct a perpendicular vector for generic r2 == -r1 - add test case for anti-parallel vectors - add test for the warning - add reference to Ken Shoemake's arcball, in axes3d.py - point out that angles are in radians, not degrees, in quaternion class docstrings - in test_axes3d, add an import for axes3d._Quaternion, to avoid repetition - add Quaternion conjugate(), and tests for it - add Quaternion norm, and tests - add Quaternion normalize(), and tests - add Quaternion reciprocal(), and tests - add Quaternion division, and tests - add Quaternion rotate(vector), and a test * Update axes3d.py's arcball - change argument from 2 element numpy array to x, y - add type hints * Update doc/api/toolkits/mplot3d/view_angles.rst --------- Co-authored-by: Tim Hoffmann <2836374+timhoffm@users.noreply.github.com>
muchojp
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Jun 6, 2024
* Natural 3D rotation with mouse - Addresses Issue matplotlib#28288 - Introduces three-dimensional rotation by mouse using a variation on Ken Shoemake's ARCBALL - Provides a minimal Quaternion class, to avoid an additional dependency on a large package like 'numpy-quaternion' * Suggestions from reviewers - makes axes3d.Quaternion a private _Quaternion class - shortens as_cardan_angles() - adds two extra tests to test_axes3d::test_quaternion(): from_cardan_angles() should return a unit quaternion, and as_cardan_angles() should be insensitive to quaternion magnitude - updates "mplot3d View Angles" documentation (the mouse can control both azimuth, elevation, and roll; and matlab does have a roll angle nowadays) - put in a reference to quaternion multiplication using scalar and vector parts (wikipedia) - rename class method that constructs a quaternion from two vectors to `rotate_from_to()` - clarify docstring: "The quaternion for the shortest rotation from vector r1 to vector r2" - issue warning when vectors are anti-parallel: "shortest rotation is ambiguous" - construct a perpendicular vector for generic r2 == -r1 - add test case for anti-parallel vectors - add test for the warning - add reference to Ken Shoemake's arcball, in axes3d.py - point out that angles are in radians, not degrees, in quaternion class docstrings - in test_axes3d, add an import for axes3d._Quaternion, to avoid repetition - add Quaternion conjugate(), and tests for it - add Quaternion norm, and tests - add Quaternion normalize(), and tests - add Quaternion reciprocal(), and tests - add Quaternion division, and tests - add Quaternion rotate(vector), and a test * Update axes3d.py's arcball - change argument from 2 element numpy array to x, y - add type hints * Update doc/api/toolkits/mplot3d/view_angles.rst --------- Co-authored-by: Tim Hoffmann <2836374+timhoffm@users.noreply.github.com>
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Problem
In mplot3d, the plot currently reacts differently to dragging the mouse, depending on the orientation of the axes. In the default orientation, moving the mouse left/right or up/down tilts the plot left/right or up/down correspondingly, which is quite natural and intuitive. However, when the plot is rotated so that we are looking down the z-axis, then moving the mouse up/down does not tilt the plot up/down as expected, but rotates it around the z-axis. The situation reminds of gimball lock. It is clumsy and annoying.
Additionally, the 'roll' angle currently cannot be controlled with the mouse (issue #14451 and PR #21426 mention this) - at present, the two degrees of freedom of the mouse (left-right and up-down) correspond directly to two of the rotational degrees of freedom of the plot (azimuth and elevation), whereas there are in fact three (i.e., azimuth, elevation, and roll; or heading, tilt, and bank, if you will). Rotations around three cartesian axes do look essentially different (one can turn up/down, turn left/right, or twist left/right-handed). Controlling only two limits the accessible orientations.
Proposed solution
For a natural interaction with the mouse, it is desirable that the figure reacts in the same way to mouse movements, regardless of orientation: there should be no difference between "poles" and "equator" of the figure, and no 'gimbal lock'.
Of course this problem is not new - satisfying solutions have been devised in the nineties of the last century, e.g., Ken Shoemake's 'arcball' [1]. All that is needed to implement this in
mplot3dis a small change toaxes3d._onmove(), together with a minimal quaternion class - this avoids an additional dependency on a large package likenumpy-quaternion.The quaternion class can be made internal, to hide it; or it can be exposed since it can be more generally useful.
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