python版lookrotation

最新推荐文章于 2023-08-24 01:36:21 发布

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最新推荐文章于 2023-08-24 01:36:21 发布

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分类专栏： Blender Python

本文链接：https://blog.csdn.net/jxyyl/article/details/118566211

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这篇博客详细介绍了Blender中实现类似Unity的lookRotation函数，该函数用于根据给定的前向和向上向量计算旋转。通过交叉乘法和归一化计算出旋转矩阵，然后转换为四元数。文章涵盖了多种情况下的矩阵计算，包括不同轴的最大值比较，确保在各种场景下正确地确定旋转方向。

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注意：代码是基于blender的，所以Quaternion及坐标系是基于blender的。

import csv
import os
import bpy
import mathutils
from mathutils import *
import math
from enum import Enum
import bmesh

def lookRotation(forward, upward=Vector((0, 1, 0))):
    """模拟unity版的LookRotation

    Args:
        forward (Vector): 前向量
        upward (Vector, optional): 朝上向量. 因为模型是躺在y轴的，所以默认upward是(0, 1, 0).

    Returns:
        Quaternion: 旋转值
    """
    upward = upward.normalized()
    forward = forward.normalized()
    right = forward.cross(upward).normalized()
    up = right.cross(forward)

    m00 = right.x
    m01 = right.y
    m02 = right.z
    m10 = forward.x
    m11 = forward.y
    m12 = forward.z
    m20 = up.x
    m21 = up.y
    m22 = up.z

    num8 = m00 + m11 + m22

    if num8 > 0:
        num = math.sqrt(num8 + 1)
        w = num * 0.5
        num = 0.5 / num
        x = (m12 - m21) * num
        y = (m20 - m02) * num
        z = (m01 - m10) * num
        return Quaternion((w, x, y, z))

    if m00 >= m11 and m00 >= m22:
        num7 = math.sqrt(1 + m00 - m11 - m22)
        num4 = 0.5 / num7
        x = 0.5 * num7
        y = (m01 + m10) * num4
        z = (m02 + m20) * num4
        w = (m12 - m21) * num4
        return Quaternion((w, x, y, z))

    if m11 > m22:
        num6 = math.sqrt(1 + m11 - m00 - m22)
        num3 = 0.5 / num6
        x = (m10 + m01) * num3
        y = 0.5 * num6
        z = (m21 + m12) * num3
        w = (m20 - m02) * num3
        return Quaternion((w, x, y, z))

    num5 = math.sqrt(1 + m22 - m00 - m11)
    num2 = 0.5 / num5
    x = (m20 + m02) * num2
    y = (m21 + m12) * num2
    z = 0.5 * num5
    w = (m01 - m10) * num2
    return Quaternion((w, x, y, z)).copy()