Change the order of QuatRotation from (w,x,y,z) to (x,y,z,w)

[ufechner7]

To be able to set the orientation of an object in a 3D scene of Makie.jl I use the following code:

    q0        = Rotations.params(QuatRotation(state.orient))     # returns an SVector in the order w,x,y,z
    quat[]    = Quaternionf0(q0[2], q0[3], q0[4], q0[1])         # the constructor expects the order x,y,z,w

This looks overly complicated to me. Can't this be done easier?

[hyrodium]

In what package is Quaternionf0 defined?
I'm not familiar with Makie.jl, and I couldn't find the definition in the Makie.jl repository.

I think the package (which defines Quaternionsf0) should depend on this package, and add some methods for Quaternionf0(::QuatRotation).

[ufechner7]

Its defined in Makie.jl:
https://github.com/JuliaPlots/Makie.jl/blob/master/src/utilities/quaternions.jl

[hyrodium]

Okay, I found Quaternionf instead of Quaternionf0.
https://github.com/JuliaPlots/Makie.jl/blob/master/src/utilities/quaternions.jl#L18

I think we would not like to have an additional method for (x,y,z,w), because it is verbose.
However, I understand that many libraries use (x,y,z,w) order instead of (w,x,y,z).

We have the following choices to solve this problem:

• Add dependency on Rotations.jl in Makie.jl, and make a function to convert Rotations.Rotation to Makie.Quaternion.
• Remove "normalized flag" in Quaternions.Quaternion, and add reuse the Quaternions.Quaternion in Makie.

In any case, I think this is not an issue of Rotations.jl.

[hyrodium]

With [email protected], we can access elements of SVector with .x etc. (The PR: JuliaArrays/StaticArrays.jl#980)

julia> using StaticArrays

julia> v = SVector(1,2,3,4)
4-element SVector{4, Int64} with indices SOneTo(4):
 1
 2
 3
 4

julia> v.x,v.w
(1, 4)

This is incompatible with Rotations.params.

julia> using Rotations

julia> q = QuatRotation(1.,0.,0.,0.)
3×3 QuatRotation{Float64} with indices SOneTo(3)×SOneTo(3)(Quaternion{Float64}(1.0, 0.0, 0.0, 0.0, true)):
 1.0  0.0  0.0
 0.0  1.0  0.0
 0.0  0.0  1.0

julia> Rotations.params(q)
4-element SVector{4, Float64} with indices SOneTo(4):
 1.0
 0.0
 0.0
 0.0

julia> Rotations.params(q).x
1.0

We should change the order of arguments of QuatRotation and return value of params(::QuatRotation), and release v2.0.0

[c42f]

I hope JuliaArrays/StaticArrays.jl#980 isn't causing problems here?

I guess it has wider consequences than expected (it was meant to be an optional concrete API for doing "normal geometry stuff" with short static vectors...)

[andyferris]

However it fell out, it’s going to be better to make a breaking change here than in StaticArrays…

[c42f]

Hah, you're right about that, I don't think we can (or really should) take that PR back as I think it's a major usability win for a very common use case.

But it's still always a little unnerving adding features to StaticArrays (or Base for that matter). It tends to have unexpected consequences, both good and bad.

[bjack205]

At least in my fields of dynamics, aerospace, robotics, and mechanical engineering, it's more standard to have the quaternion ordered as [w,x,y,z]. So I'm in favor of keeping it as-is.

Instead of depending on the change in StaticArrays, could we just define getproperty(::QuatRotation, ::Symbol) and special case x, y,z, and w? Especially since accessing these is now a layer deeper than it used to be (e.g. q.q.s), which is rather inconvenient and has already broken quite a bit of existing code that relied on the previous fields.

[andyferris]

Yeah IMO it would probably be good to have direct property access on the rotation rather than going via params anyway.

[c42f]

define getproperty(::QuatRotation, ::Symbol) and special case x, y,z, and w?

This makes sense to me. Code which knows it's acting on a particular concrete type can just depend on the field names of that type. There's no need to have uniformity/consistency between different concrete types for this use case.

[hyrodium]

define getproperty(::QuatRotation, ::Symbol) and special case x, y,z, and w?

This will be implemented in #209 and is waiting for some reviews.

[hyrodium]

At least in my fields of dynamics, aerospace, robotics, and mechanical engineering, it's more standard to have the quaternion ordered as [w,x,y,z]. So I'm in favor of keeping it as-is.

@bjack205
I'm not much familiar with these fields, but OpenGL, SciPy, Unity, PyBullet, and ROS uses [x,y,z,w]-order. (there are more!)
The software using [w,x,y,z]-order that I found was only Blender and OGRE.
Could you provide some references for [w,x,y,z]-order?

The respective advantages of [w,x,y,z]-order and [x,y,z,w]-order can be summarized as follows:

Advantages of [w,x,y,z]-order

• Quaternions.jl uses $(w + xi + yj + zk)$-order to be consistent with Base.Complex's $(x+yi)$-order.
• The original issue was from Makie.jl, but Makie should now use Quaternions.Quaternion which uses [w,x,y,z]-order.
  • See [ANN] Quaternions.jl v0.7.0 and Makie.jl/src/utilities/quaternions.jl.
• Rotations.jl should be consistent with the order in Quaternions.jl

Advantages of [x,y,z,w]-order

• Most of software adopt [x,y,z,w] order
  • This is for keeping consistency with the "x-first" rule: [x,y], [x,y,z], and [x,y,z,w].
• StaticArrays.jl have getproperty(::SVector, ::Symbol) which is not consistent with [w,x,y,z] order
  • This can be avoided by deprecating Rotations.params(::QuatRotation) and add a new function Rotations.parameters(::QuatRoations) which returns Tuple (not SVector).

I personally believe all of the software should be consistent with [w,x,y,z]-order, and consistency with other software is not our No.1 priority.