def test_axis_and_angle_from_matrix():
axis1 = normalize_vector([-0.043, -0.254, 0.617])
angle1 = 0.1
R = matrix_from_axis_and_angle(axis1, angle1)
axis2, angle2 = axis_and_angle_from_matrix(R)
assert allclose(axis1, axis2)
assert allclose([angle1], [angle2])
def test_matrix_from_axis_angle_vector():
axis1 = normalize_vector([-0.043, -0.254, 0.617])
angle1 = 0.1
R = matrix_from_axis_and_angle(axis1, angle1)
r = [[0.9950248278789664, -0.09200371122722178, -0.03822183963195913, 0.0],
[0.09224781823368366, 0.9957251324831573, 0.004669108322156158, 0.0],
[
0.037628871037522216, -0.008171760019527692, 0.9992583701939277,
0.0
], [0.0, 0.0, 0.0, 1.0]]
assert allclose(R, r)
def get_distance_numpy(self, x, y, z):
"""
vectorized distance function
"""
from compas.geometry import matrix_inverse
import numpy as np
# plane = Plane(self.frame.point, self.frame.normal)
# vp = VolPlane(plane)
# dm = vp.get_distance_numpy(x, y, z)
m = matrix_from_axis_and_angle(self.frame.normal, 10, self.frame.point)
mi = matrix_inverse(m)
p = np.array([x, y, z, 1])
xt, yt, zt, _ = np.dot(mi, p)
return self.obj.get_distance_numpy(xt, yt, zt)
"""
vector = self.copy()
vector.transform(matrix)
return vector
# ==============================================================================
# Main
# ==============================================================================
if __name__ == '__main__':
from compas.geometry import matrix_from_axis_and_angle
u = Vector(0.0, 0.0, 1.0)
v = Vector(1.0, 0.0, 0.0)
print(u.angle(v))
print(3.14159 / 2)
w = Vector.from_start_end(u, v)
print(w)
M = matrix_from_axis_and_angle(v, pi / 4)
u.transform(M)
print(u)
Polyline
The transformed copy.
"""
polyline = self.copy()
polyline.transform(matrix)
return polyline
# ==============================================================================
# Main
# ==============================================================================
if __name__ == '__main__':
from math import pi
from compas.geometry import matrix_from_axis_and_angle
from compas_plotters import Plotter
M = matrix_from_axis_and_angle([0, 0, 1.0], pi / 2)
p = Polyline([[0, 0, 0], [1, 0, 0], [2, 0, 0], [3, 0, 0]])
q = p.transformed(M)
#plotter = Plotter(figsize=(10, 7))
#plotter.draw_polygons([{'points': p.points}, {'points': q.points}])
#plotter.show()
print(p.point(.7, snap=True))
from compas.geometry import matrix_from_axis_and_angle
from compas.geometry import transform_points_numpy
from compas_plotters import Axes3D
from compas_plotters import Cloud3D
from compas_plotters import Bounds
from compas_plotters import create_axes_3d
data = random.rand(300, 3)
data[:, 0] *= 10.0
data[:, 1] *= 1.0
data[:, 2] *= 4.0
a = 3.14159 * 30.0 / 180
Ry = matrix_from_axis_and_angle([0, 1.0, 0.0], a, rtype='array')
a = -3.14159 * 45.0 / 180
Rz = matrix_from_axis_and_angle([0, 0, 1.0], a, rtype='array')
R = Rz.dot(Ry)
data = transform_points_numpy(data, R)
average, vectors, values = pca_numpy(data)
axes = create_axes_3d()
Bounds(data).plot(axes)
Cloud3D(data).plot(axes)
Axes3D(average, vectors).plot(axes)
cloud[:, 1] *= -3.0
cloud[:, 1] -= 3.0
d[1] = -1
else:
cloud[:, 1] *= 3.0
cloud[:, 1] += 3.0
if i in (4, 5, 6, 7):
cloud[:, 2] *= -6.0
cloud[:, 2] -= 3.0
d[2] = -1
else:
cloud[:, 2] *= 6.0
cloud[:, 2] += 3.0
R = matrix_from_axis_and_angle(d, a)
cloud[:] = transform(cloud, R)
clouds.append(cloud.tolist())
axes = create_axes_3d()
bounds = Bounds([point for points in clouds for point in points])
bounds.plot(axes)
for cloud in clouds:
bbox = oriented_bounding_box_numpy(cloud)
Cloud3D(cloud).plot(axes)
Box(bbox[1]).plot(axes)
