def setOrientation(self,
orientation: Quaternion,
transform_space: int = TransformSpace.Local):
if not self._enabled or orientation == self._orientation:
return
new_transform_matrix = Matrix()
if transform_space == SceneNode.TransformSpace.World:
if self.getWorldOrientation() == orientation:
return
new_orientation = orientation * (
self.getWorldOrientation() *
self._orientation.getInverse()).getInverse()
orientation_matrix = new_orientation.toMatrix()
else: # Local
orientation_matrix = orientation.toMatrix()
euler_angles = orientation_matrix.getEuler()
new_transform_matrix.compose(scale=self._scale,
angles=euler_angles,
translate=self._position,
shear=self._shear)
self._transformation = new_transform_matrix
self._transformChanged()
def test_toMatrix(self):
q1 = Quaternion()
q1.setByAngleAxis(math.pi / 2, Vector.Unit_Z)
m1 = q1.toMatrix()
m2 = Matrix()
m2.setByRotationAxis(math.pi / 2, Vector.Unit_Z)
self.assertTrue(Float.fuzzyCompare(m1.at(0, 0), m2.at(0, 0), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(0, 1), m2.at(0, 1), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(0, 2), m2.at(0, 2), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(0, 3), m2.at(0, 3), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(1, 0), m2.at(1, 0), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(1, 1), m2.at(1, 1), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(1, 2), m2.at(1, 2), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(1, 3), m2.at(1, 3), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(2, 0), m2.at(2, 0), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(2, 1), m2.at(2, 1), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(2, 2), m2.at(2, 2), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(2, 3), m2.at(2, 3), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(3, 0), m2.at(3, 0), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(3, 1), m2.at(3, 1), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(3, 2), m2.at(3, 2), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(3, 3), m2.at(3, 3), 1e-6))
def setOrientation(self,
orientation: Quaternion,
transform_space: int = TransformSpace.Local) -> None:
"""Set the local orientation of this scene node.
:param orientation: :type{Quaternion} The new orientation of this scene node.
:param transform_space: The space relative to which to rotate. Can be Local or World from SceneNode::TransformSpace.
"""
if not self._enabled or orientation == self._orientation:
return
if transform_space == SceneNode.TransformSpace.World:
if self.getWorldOrientation() == orientation:
return
new_orientation = orientation * (
self.getWorldOrientation() *
self._orientation.getInverse()).invert()
orientation_matrix = new_orientation.toMatrix()
else: # Local
orientation_matrix = orientation.toMatrix()
euler_angles = orientation_matrix.getEuler()
new_transform_matrix = Matrix()
new_transform_matrix.compose(scale=self._scale,
angles=euler_angles,
translate=self._position,
shear=self._shear)
self._transformation = new_transform_matrix
self._transformChanged()
def test_toMatrix(self):
q1 = Quaternion()
q1.setByAngleAxis(math.pi / 2, Vector.Unit_Z)
m1 = q1.toMatrix()
m2 = Matrix()
m2.setByRotationAxis(math.pi / 2, Vector.Unit_Z)
self.assertTrue(Float.fuzzyCompare(m1.at(0, 0), m2.at(0, 0), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(0, 1), m2.at(0, 1), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(0, 2), m2.at(0, 2), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(0, 3), m2.at(0, 3), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(1, 0), m2.at(1, 0), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(1, 1), m2.at(1, 1), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(1, 2), m2.at(1, 2), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(1, 3), m2.at(1, 3), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(2, 0), m2.at(2, 0), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(2, 1), m2.at(2, 1), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(2, 2), m2.at(2, 2), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(2, 3), m2.at(2, 3), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(3, 0), m2.at(3, 0), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(3, 1), m2.at(3, 1), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(3, 2), m2.at(3, 2), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(3, 3), m2.at(3, 3), 1e-6))
def rotate(self, rotation: Quaternion, transform_space: int = TransformSpace.Local) -> None:
if not self._enabled:
return
orientation_matrix = rotation.toMatrix()
if transform_space == SceneNode.TransformSpace.Local:
self._transformation.multiply(orientation_matrix)
elif transform_space == SceneNode.TransformSpace.Parent:
self._transformation.preMultiply(orientation_matrix)
elif transform_space == SceneNode.TransformSpace.World:
self._transformation.multiply(self._world_transformation.getInverse())
self._transformation.multiply(orientation_matrix)
self._transformation.multiply(self._world_transformation)
self._transformChanged()
def rotate(self, rotation: Quaternion, transform_space: int = TransformSpace.Local):
if not self._enabled:
return
orientation_matrix = rotation.toMatrix()
if transform_space == SceneNode.TransformSpace.Local:
self._transformation.multiply(orientation_matrix)
elif transform_space == SceneNode.TransformSpace.Parent:
self._transformation.preMultiply(orientation_matrix)
elif transform_space == SceneNode.TransformSpace.World:
self._transformation.multiply(self._world_transformation.getInverse())
self._transformation.multiply(orientation_matrix)
self._transformation.multiply(self._world_transformation)
self._transformChanged()
def rotate(self,
rotation: Quaternion,
transform_space: int = TransformSpace.Local):
if not self._enabled:
return
#self.LOG_QUATERNION( "409 rotate:: rotation", rotation )
orientation_matrix = rotation.toMatrix()
self.LOG_MATRIX("411 rotate:: orientation_matrix", orientation_matrix)
#self.LOG_VECTOR( "412 rotate:: self.getPosition()", self.getPosition() )
if transform_space == SceneNode.TransformSpace.Local:
self._transformation.multiply(orientation_matrix)
elif transform_space == SceneNode.TransformSpace.Parent:
self._transformation.preMultiply(orientation_matrix)
elif transform_space == SceneNode.TransformSpace.World:
self.LOG_MATRIX("419 rotate:: self._transformation",
self._transformation)
inverse = self._world_transformation.getInverse()
self.LOG_MATRIX("421 rotate:: inverse", inverse)
self.LOG_MATRIX("422 rotate:: self._world_transformation",
self._world_transformation)
self.LOG_MATRIX("424 rotate:: self._transformation",
self._transformation)
self.LOG_MATRIX(
"425 rotate:: self._world_transformation.getInverse()",
self._world_transformation.getInverse())
self._transformation.multiply(
self._world_transformation.getInverse())
self.LOG_MATRIX("428 rotate:: self._transformation",
self._transformation)
self.LOG_MATRIX("429 rotate:: orientation_matrix",
orientation_matrix)
self._transformation.multiply(orientation_matrix)
self.LOG_MATRIX("432 rotate:: self._transformation",
self._transformation)
self.LOG_MATRIX("433 rotate:: self._world_transformation",
self._world_transformation)
self._transformation.multiply(self._world_transformation)
self.LOG_MATRIX("436 rotate:: self._transformation",
self._transformation)
self._transformChanged()
def setOrientation(self, orientation: Quaternion, transform_space: int = TransformSpace.Local):
if not self._enabled or orientation == self._orientation:
return
new_transform_matrix = Matrix()
if transform_space == SceneNode.TransformSpace.World:
if self.getWorldOrientation() == orientation:
return
new_orientation = orientation * (self.getWorldOrientation() * self._orientation.getInverse()).getInverse()
orientation_matrix = new_orientation.toMatrix()
else: # Local
orientation_matrix = orientation.toMatrix()
euler_angles = orientation_matrix.getEuler()
new_transform_matrix.compose(scale = self._scale, angles = euler_angles, translate = self._position, shear = self._shear)
self._transformation = new_transform_matrix
self._transformChanged()
def rotate(self, rotation: Quaternion, transform_space: int = TransformSpace.Local) -> None:
"""Rotate the scene object (and thus its children) by given amount
:param rotation: :type{Quaternion} A quaternion indicating the amount of rotation.
:param transform_space: The space relative to which to rotate. Can be any one of the constants in SceneNode::TransformSpace.
"""
if not self._enabled:
return
orientation_matrix = rotation.toMatrix()
if transform_space == SceneNode.TransformSpace.Local:
self._transformation.multiply(orientation_matrix)
elif transform_space == SceneNode.TransformSpace.Parent:
self._transformation.preMultiply(orientation_matrix)
elif transform_space == SceneNode.TransformSpace.World:
self._transformation.multiply(self._world_transformation.getInverse())
self._transformation.multiply(orientation_matrix)
self._transformation.multiply(self._world_transformation)
self._transformChanged()
