def _fill_world_matrix(viman_data, t3d, index):
""" Fill the world matix part of the structure
This function receives the Blender rotation matrix and position of an object
It calls a module function to fill out data structure of type VimanThetaMat
"""
logger.debug(t3d)
nx = t3d.matrix[0][0]
ox = t3d.matrix[1][0]
ax = t3d.matrix[2][0]
px = t3d.x
ny = t3d.matrix[0][1]
oy = t3d.matrix[1][1]
ay = t3d.matrix[2][1]
py = t3d.y
nz = t3d.matrix[0][2]
oz = t3d.matrix[1][2]
az = t3d.matrix[2][2]
pz = t3d.z
result = ors_viman_poster.write_matrix (viman_data, index,
nx, ny, nz, ox, oy, oz, ax, ay, az, px, py, pz)
def _fill_robot_matrix(viman_data, robot, obj_3dpose, index):
""" Fill the world matix part of the structure
This function receives the Blender rotation matrix and position of an object
It calls a module function to fill out data structure of type VimanThetaMat
"""
robot3d = robot.position_3d
t3d = robot3d.transformation3d_with(obj_3dpose)
nx = t3d.matrix[0][0]
ox = t3d.matrix[1][0]
ax = t3d.matrix[2][0]
px = t3d.x
ny = t3d.matrix[0][1]
oy = t3d.matrix[1][1]
ay = t3d.matrix[2][1]
py = t3d.y
nz = t3d.matrix[0][2]
oz = t3d.matrix[1][2]
az = t3d.matrix[2][2]
pz = t3d.z
result = ors_viman_poster.write_matrix(viman_data, index, RELATIVE, nx, ny,
nz, ox, oy, oz, ax, ay, az, px, py,
pz)
def _fill_robot_matrix(viman_data, robot, obj_3dpose, index):
""" Fill the world matix part of the structure
This function receives the Blender rotation matrix and position of an object
It calls a module function to fill out data structure of type VimanThetaMat
"""
robot3d = robot.position_3d
t3d = robot3d.transformation3d_with(obj_3dpose)
nx = t3d.matrix[0][0]
ox = t3d.matrix[1][0]
ax = t3d.matrix[2][0]
px = t3d.x
ny = t3d.matrix[0][1]
oy = t3d.matrix[1][1]
ay = t3d.matrix[2][1]
py = t3d.y
nz = t3d.matrix[0][2]
oz = t3d.matrix[1][2]
az = t3d.matrix[2][2]
pz = t3d.z
result = ors_viman_poster.write_matrix (viman_data, index, RELATIVE,
nx, ny, nz, ox, oy, oz, ax, ay, az, px, py, pz)
def _fill_world_matrix(viman_data, t3d, index):
""" Fill the world matix part of the structure
This function receives the Blender rotation matrix and position of an object
It calls a module function to fill out data structure of type VimanThetaMat
"""
nx = t3d.matrix[0][0]
ox = t3d.matrix[1][0]
ax = t3d.matrix[2][0]
px = t3d.x
ny = t3d.matrix[0][1]
oy = t3d.matrix[1][1]
ay = t3d.matrix[2][1]
py = t3d.y
nz = t3d.matrix[0][2]
oz = t3d.matrix[1][2]
az = t3d.matrix[2][2]
pz = t3d.z
result = ors_viman_poster.write_matrix(viman_data, index, ABSOLUTE, nx, ny,
nz, ox, oy, oz, ax, ay, az, px, py,
pz)
