/usr/lib/python2.7/dist-packages/xode/transform.py is in python-pyode 1.2.0-4+cvs20090320.1build1.
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# Python Open Dynamics Engine Wrapper
# Copyright (C) 2004 PyODE developers (see file AUTHORS)
# All rights reserved.
#
# This library is free software; you can redistribute it and/or
# modify it under the terms of EITHER:
# (1) The GNU Lesser General Public License as published by the Free
# Software Foundation; either version 2.1 of the License, or (at
# your option) any later version. The text of the GNU Lesser
# General Public License is included with this library in the
# file LICENSE.
# (2) The BSD-style license that is included with this library in
# the file LICENSE-BSD.
#
# This library is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
# LICENSE and LICENSE-BSD for more details.
######################################################################
# XODE Importer for PyODE
"""
XODE Transform
@author: U{Timothy Stranex<mailto:timothy@stranex.com>}
"""
import math
class Transform:
"""
A matrix transform.
"""
def __init__(self):
"""
Initialise as an identity transform.
"""
self.m = [[0, 0, 0, 0],
[0, 0, 0, 0],
[0, 0, 0, 0],
[0, 0, 0, 0]]
self.setIdentity()
self._absolute = False
def takeParser(self, parser, node, attrs):
"""
Called to make this object handle further parsing. It should be called
immediately after the <transform> tag has been encountered.
@param parser: The parser.
@type parser: instance of L{parser.Parser}
@param node: The node that is to be transformed.
@type node: instance of L{node.TreeNode}
@param attrs: The <transform> tag attributes.
@type attrs: dict
"""
self._scale = float(attrs.get('scale', 1.0))
self._absolute = (attrs.get('absolute', 'false') == 'true')
self._position = None
self._euler = None
self._node = node
self._parser = parser
self._parser.push(startElement=self._startElement,
endElement=self._endElement)
def _startElement(self, name, attrs):
if (name == 'matrix4f'):
for r in range(4):
for c in range(4):
self.m[r][c] = float(attrs['m%i%i' % (r, c)])
elif (name == 'position'):
self._position = (float(attrs['x']),
float(attrs['y']),
float(attrs['z']))
elif (name == 'euler'):
coeff = 1
if (attrs.get('aformat', 'radians') == 'degrees'):
coeff = math.pi/180
x = coeff * float(attrs['x'])
y = coeff * float(attrs['y'])
z = coeff * float(attrs['z'])
self._euler = (x, y, z)
elif (name == 'rotation'):
pass
else:
import parser
raise parser.InvalidError("%s is not a valid child of <transform>."%
repr(name))
def _endElement(self, name):
if (name == 'transform'):
if (self._euler):
x, y, z = self._euler
self.rotate(x, y, z)
if (self._position):
x, y, z = self._position
self.translate(x, y, z)
self.scale(self._scale, self._scale, self._scale)
self._node.setNodeTransform(self)
self._parser.pop()
def isAbsolute(self):
"""
@return: True if this transform is to be absolute rather than
relative to another.
@rtype: bool
"""
return self._absolute
def setIdentity(self):
"""
Set the matrix so that there is no translation, rotation or scaling.
"""
for r in range(4):
for c in range(4):
self.m[r][c] = 0
for i in range(4):
self.m[i][i] = 1
def translate(self, x, y, z):
"""
Set the matrix to translate a point.
@param x: The offset along the x axis.
@type x: float
@param y: The offset along the y axis.
@type y: float
@param z: The offset along the z axis.
@type z: float
"""
t = Transform()
t.m[3][0] = x
t.m[3][1] = y
t.m[3][2] = z
r = self * t;
self.m = r.m
def scale(self, x, y, z):
"""
Set the matrix to scale a point.
@param x: The scaling factor along the x axis.
@type x: float
@param y: The scaling factor along the y axis.
@type y: float
@param z: The scaling factor along the z axis.
@type z: float
"""
t = Transform()
t.m[0][0] = x
t.m[1][1] = y
t.m[2][2] = z
r = self * t
self.m = r.m
def rotate(self, x, y, z):
"""
Set the matrix to rotate a point.
@param x: Rotation around the x axis in radians.
@type x: float
@param y: Rotation around the y axis in radians.
@type y: float
@param z: Rotation around the z axis in radians.
@type z: float
"""
rx = Transform()
rx.m[1][1] = math.cos(x)
rx.m[1][2] = math.sin(x)
rx.m[2][1] = -math.sin(x)
rx.m[2][2] = math.cos(x)
ry = Transform()
ry.m[0][0] = math.cos(y)
ry.m[0][2] = -math.sin(y)
ry.m[2][0] = math.sin(y)
ry.m[2][2] = math.cos(y)
rz = Transform()
rz.m[0][0] = math.cos(z)
rz.m[0][1] = math.sin(z)
rz.m[1][0] = -math.sin(z)
rz.m[1][1] = math.cos(z)
r = self * rx * ry * rz
self.m = r.m
def getPosition(self):
"""
Extracts the position vector. It is returned as a tuple in the form
(x, y, z).
@return: The position vector.
@rtype: tuple
"""
return self.m[3][0], self.m[3][1], self.m[3][2]
def getRotation(self):
"""
Extracts the rotation matrix. It is returned as a tuple in the form
(m00, m01, m02, m10, m11, m12, m20, m21, m22).
@return: The rotation matrix.
@rtype: tuple
"""
return self.m[0][0], self.m[0][1], self.m[0][2], \
self.m[1][0], self.m[1][1], self.m[1][2], \
self.m[2][0], self.m[2][1], self.m[2][2]
def __mul__(self, t2):
"""
Concatenate this transform with another.
@param t2: The second transform.
@type t2: instance of L{Transform}
"""
ret = Transform()
for row in range(4):
for col in range(4):
part = 0
for i in range(4):
part = part + self.m[row][i] * t2.m[i][col]
ret.m[row][col] = part
return ret
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