Merge pull request #210 from ferrolho/hf/compat-Rotations

Renames `UnitQuaternion` to `QuatRotation`
rdeits · Dec 6, 2021 · e8cd09a · e8cd09a
2 parents da427dd + 28945fa
commit e8cd09a
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Showing 3 changed files with 8 additions and 5 deletions.
diff --git a/src/MeshCat.jl b/src/MeshCat.jl
@@ -28,7 +28,7 @@ using GeometryBasics: GeometryBasics,
   widths
 
 using CoordinateTransformations
-using Rotations: rotation_between, Rotation, RotMatrix, UnitQuaternion
+using Rotations: params, rotation_between, Rotation, RotMatrix, QuatRotation
 using Colors: Color, Colorant, RGB, RGBA, alpha, hex, red, green, blue
 using StaticArrays: StaticVector, SVector, SDiagonal, SMatrix
 using Parameters: @with_kw

diff --git a/src/arrow_visualizer.jl b/src/arrow_visualizer.jl
@@ -47,7 +47,7 @@ function settransform!(vis::ArrowVisualizer, base::Point{3}, vec::Vec{3};
     rotation = if vec_length > eps(T)
         rotation_between(SVector(0., 0., 1.), vec)
     else
-        one(UnitQuaternion{Float64})
+        one(QuatRotation{Float64})
     end |> LinearMap
 
     vis_tform = Translation(base) ∘ rotation

diff --git a/src/atframe.jl b/src/atframe.jl
@@ -30,9 +30,12 @@ function getclip!(animation::Animation, path::Path)
 end
 
 js_quaternion(m::AbstractMatrix) = js_quaternion(RotMatrix(SMatrix{3, 3, eltype(m)}(m)))
-js_quaternion(q::UnitQuaternion) = [q.x, q.y, q.z, q.w]
-js_quaternion(::UniformScaling) = js_quaternion(UnitQuaternion(1., 0., 0., 0.))
-js_quaternion(r::Rotation) = js_quaternion(UnitQuaternion(r))
+function js_quaternion(q::QuatRotation)
+    w, x, y, z = params(q)
+    return [x, y, z, w]
+end
+js_quaternion(::UniformScaling) = js_quaternion(QuatRotation(1., 0., 0., 0.))
+js_quaternion(r::Rotation) = js_quaternion(QuatRotation(r))
 js_quaternion(tform::Transformation) = js_quaternion(transform_deriv(tform, SVector(0., 0, 0)))
 
 function js_scaling(tform::AbstractAffineMap)