keyframes-to-dual-quats

Convert a set of keyframed joint matrix arrays into joint dual quaternion arrays

Background / Initial Motivation

This module was made to help with dual quaternion linear blending when using collada-dae-parser

To Install

$ npm install --save keyframes-to-dual-quats

Usage

var keyframesToDualQuats = require('keyframes-to-dual-quats')

var keyframeMatrices = {
  1: [
    [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]
  ],
  "3.66": [
    // ... some matrices
  ]
}

console.log(keyframesToDualQuats(keyframeMatrices))
// {
//   1: [
//     [0, 0, 0, 1, 0, 0, 0, 0]
//   ],
//   "3.66": [
//     // ... some dual quaternions
//   ]
// }

// With collada-dae-parser
var my3dModel = require('collada-dae-parser')(fs.readFileSync('./some-model.dae'))

// Now your keyframes are dual quaternions which you can use for dual quaternion linear blending
my3dModel.keyframes = keyframesToDualQuats(my3dModel.keyframes)

See Also

• mat4-to-dual-quat
• skeletal-animation-system

References

• http://cs.gmu.edu/~jmlien/teaching/cs451/uploads/Main/dual-quaternion.pdf
  • 4x4 matrix to dual quaternion formula is in Section 7.1.6

License

MIT