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Added condtions for Slerp vs Squad interpolation #576

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Added condtions for Slerp vs Squad interpolation #576

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sdhar04
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@sdhar04 sdhar04 commented Feb 6, 2024

🎉 New feature

Closes #568

Summary

I have added conditions for using the Slerp algorithm when moving the GUI Camera based on distance between the initial and final points and the difference in their orientation. Otherwise, Squad is used.

Test it

I have added a bash script publishing a new position and orientation to the camera every 2 seconds. You can run it in a new Terminal tab.

@github-actions github-actions bot added 🌱 garden Ignition Garden 🎵 harmonic Gazebo Harmonic labels Feb 6, 2024
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sdhar04 commented Feb 7, 2024

@scpeters I have seen the check logs and the identified the tests it is failing in. How can I replicate these tests on my system in order to fix this?

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sdhar04 commented Feb 7, 2024

Here in tests 73 and 153 I can see that the failed assertion is checking for a point located halfway on the path used for interpolation, which will only be achieved through the Squad method.

Signed-off-by: Sammit Dhar <[email protected]>
Signed-off-by: Sammit Dhar <[email protected]>
@sdhar04 sdhar04 marked this pull request as draft February 7, 2024 22:51
@sdhar04 sdhar04 closed this Feb 7, 2024
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Consider Slerp instead of Squad for rotation interpolation
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