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In rotation_between_vectors, account for the case where vectors align

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Grant Sanderson
2022-12-22 17:57:47 -07:00
parent c36d178856
commit baf2690d77
1 changed files with 9 additions and 2 deletions
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11
manimlib/utils/space_ops.py
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@ -10,7 +10,7 @@ import numpy as np
from scipy.spatial.transform import Rotation
from tqdm import tqdm as ProgressDisplay
from manimlib.constants import DOWN, OUT, RIGHT
from manimlib.constants import DOWN, OUT, RIGHT, UP
from manimlib.constants import PI, TAU
from manimlib.utils.iterables import adjacent_pairs
from manimlib.utils.simple_functions import clip
@ -134,8 +134,15 @@ def rotation_about_z(angle: float) -> Matrix3x3:
def rotation_between_vectors(v1: Vect3, v2: Vect3) -> Matrix3x3:
if np.all(np.isclose(v1, v2)):
if np.isclose(v1, v2).all():
return np.identity(3)
axis = np.cross(v1, v2)
if np.isclose(axis, [0, 0, 0]).all():
# v1 and v2 align
axis = np.cross(v1, RIGHT)
if np.isclose(axis, [0, 0, 0]).all():
# v1 and v2 _and_ RIGHT all align
axis = np.cross(v1, UP)
return rotation_matrix(
angle=angle_between_vectors(v1, v2),
axis=np.cross(v1, v2)