https://github.com/neka-nat/dq3d

dual quaternion for 3d geometric operations
https://github.com/neka-nat/dq3d

dual-quaternion dual-quaternion-skinning dual-quaternions eigen pybind11 python quaternion sclerp skinning

Last synced: 7 months ago
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dual quaternion for 3d geometric operations

• Host: GitHub
• URL: https://github.com/neka-nat/dq3d
• Owner: neka-nat
• License: mit
• Created: 2019-01-14T14:34:47.000Z (over 7 years ago)
• Default Branch: master
• Last Pushed: 2019-06-07T15:12:02.000Z (almost 7 years ago)
• Last Synced: 2025-03-26T23:11:33.716Z (about 1 year ago)
• Topics: dual-quaternion, dual-quaternion-skinning, dual-quaternions, eigen, pybind11, python, quaternion, sclerp, skinning
• Language: C++
• Homepage:
• Size: 5.82 MB
• Stars: 29
• Watchers: 3
• Forks: 7
• Open Issues: 2
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# dq3d

[![PyPI version](https://badge.fury.io/py/dq3d.svg)](https://badge.fury.io/py/dq3d)

[![Build Status](https://travis-ci.org/neka-nat/dq3d.svg?branch=master)](https://travis-ci.org/neka-nat/dq3d)

[![Build status](https://ci.appveyor.com/api/projects/status/g6hg095ldg78wb81?svg=true)](https://ci.appveyor.com/project/neka-nat/dq3d)

[![Downloads](https://pepy.tech/badge/dq3d)](https://pepy.tech/project/dq3d)

Dual quaternion for 3d geometric operations.

## Installation

Running `pip install transformations dq3d` should work. 

### macOS

On macOS, if you get an error `ld: library not found for -lstdc++` do the following. Go to `/Library/Developer/CommandLineTools/Packages/` and install the package `macOS_SDK_headers_for_macOS_10.14.pkg`. They try installing again.

## examples

### Skinning

This example is a demonstration of skinning with Dual quaternion Linear Blending.

![skinning](https://raw.githubusercontent.com/neka-nat/dq3d/master/images/skinning.gif)

### Sclerp

This example is a demonstration that interpolates between two randomly generated dual quaternions with ScLerp.

![sclerp](https://raw.githubusercontent.com/neka-nat/dq3d/master/images/sclerp.gif)

## References

* [Skinning with Dual Quaternions](https://www.cs.utah.edu/~ladislav/dq/index.html)