def transform(self):
# I = numpy.array([[1,0,0,0],
# [0,1,0,0],
# [0,0,1,0],
# [0,0,0,1]])
# a = numpy.array([[1,2,3,4],
# [1,2,3,4],
# [1,2,3,4],
# [1,2,3,4]])
# b1 = a.transpose()
# b2 = numpy.array([[1,1,1,1],
# [2,2,2,2],
# [3,3,3,3],
# [4,4,4,4]])
# print 'a', numpy.dot(I,a)
# print 'b1', numpy.dot(I,b)
# print 'b2', numpy.dot(I,bb)
#
# glLoadIdentity()
# glMultMatrixd(a)
# print 'ma', glGetDoublev(GL_MODELVIEW_MATRIX)
# glLoadIdentity()
# glMultMatrixd(b1)
# print 'mb1', glGetDoublev(GL_MODELVIEW_MATRIX)
# glLoadIdentity()
# glMultMatrixd(bb)
# print 'mb2', glGetDoublev(GL_MODELVIEW_MATRIX)
glMultMatrixf(mmMath.invertSE3(self.getSE3()).transpose())
def transform(self):
# I = numpy.array([[1,0,0,0],
# [0,1,0,0],
# [0,0,1,0],
# [0,0,0,1]])
# a = numpy.array([[1,2,3,4],
# [1,2,3,4],
# [1,2,3,4],
# [1,2,3,4]])
# b1 = a.transpose()
# b2 = numpy.array([[1,1,1,1],
# [2,2,2,2],
# [3,3,3,3],
# [4,4,4,4]])
# print 'a', numpy.dot(I,a)
# print 'b1', numpy.dot(I,b)
# print 'b2', numpy.dot(I,bb)
#
# glLoadIdentity()
# glMultMatrixd(a)
# print 'ma', glGetDoublev(GL_MODELVIEW_MATRIX)
# glLoadIdentity()
# glMultMatrixd(b1)
# print 'mb1', glGetDoublev(GL_MODELVIEW_MATRIX)
# glLoadIdentity()
# glMultMatrixd(bb)
# print 'mb2', glGetDoublev(GL_MODELVIEW_MATRIX)
glMultMatrixf(mmMath.invertSE3(self.getSE3()).transpose())