def body_record(body):
"""Create a one-line ASCII data record to transmit for each body."""
position = "%f %f %f " % body.position
xaxis, yaxis = quaternion_to_xaxis_yaxis(body.orientation)
xvec = "%f %f %f " % tuple(xaxis)
yvec = "%f %f %f\n" % tuple(yaxis)
return position + xvec + yvec
def make_plane_list(self):
"""Return the received rigid body frames as a list of Plane or None (for missing data), one entry per rigid body stream."""
# convert each quaternion into a pair of X,Y basis vectors
basis_vectors = [quaternion_to_xaxis_yaxis(rot) for rot in self.rotations]
# Extract the X and Y axis basis elements into lists of Vector3d objects.
xaxes = [Rhino.Geometry.Vector3d(*(basis[0])) for basis in basis_vectors]
yaxes = [Rhino.Geometry.Vector3d(*(basis[1])) for basis in basis_vectors]
# Generate either Plane or None for each coordinate frame.
planes = [plane_or_null(origin, x, y) for origin,x,y in zip(self.positions, xaxes, yaxes)]
return planes
def all_Planes(take, stride=1):
"""Return a DataTree of trajectories containing Planes or None.
The tree has one branch for each rigid body; each branch contains a list of
objects, either Plane for a valid sample or None if the sample is missing.
Due to implicit ghpython conversions, the branches will end up described by
paths {0;0},{0;1},{0;2}, etc.
:param stride: the skip factor to apply for subsampling input (default=1, no subsampling)
"""
# Extract the origin position data and convert to Point3d objects within a
# Python list structure. The subsampling is handled within the
# comprehension. Note that missing data is returned as None. Each 'body'
# in the take.rigid_bodies dictionary is a RigidBody object. body.positions
# is a list with one element per frame, either None or [x,y,z].
origins = [ [rotated_point(pos) for pos in itertools.islice(body.positions, 0, len(body.positions), stride)] \
for body in take.rigid_bodies.values()]
# Similar to extract a tree of quaternion trajectories. The leaves are
# numbers, the dimensions are (num_bodies, num_frames, 4).
quats = [ [rotated_orientation(rot) for rot in itertools.islice(body.rotations, 0, len(body.rotations), stride)] \
for body in take.rigid_bodies.values()]
# Generate a tree of basis vector pairs (xaxis, yaxis). Dimensions are (num_bodies, num_frames, 2, 3)
basis_vectors = [[quaternion_to_xaxis_yaxis(rot) for rot in body]
for body in quats]
# Extract the X axis basis elements into a tree of Vector3d objects with dimension (num_bodies, num_frames).
xaxes = [[Rhino.Geometry.Vector3d(*(basis[0])) for basis in body]
for body in basis_vectors]
# Same for Y.
yaxes = [[Rhino.Geometry.Vector3d(*(basis[1])) for basis in body]
for body in basis_vectors]
# Iterate over the 2D list structures, combining them into a 2D list of Plane objects.
planes = [[
plane_or_null(origin, x, y) for origin, x, y in zip(os, xs, ys)
] for os, xs, ys in zip(origins, xaxes, yaxes)]
# Recursively convert from a Python tree to a data tree.
return list_to_tree(planes)
def all_Planes(take, stride=1):
"""Return a DataTree of trajectories containing Planes or None.
The tree has one branch for each rigid body; each branch contains a list of
objects, either Plane for a valid sample or None if the sample is missing.
Due to implicit ghpython conversions, the branches will end up described by
paths {0;0},{0;1},{0;2}, etc.
:param stride: the skip factor to apply for subsampling input (default=1, no subsampling)
"""
# Extract the origin position data and convert to Point3d objects within a
# Python list structure. The subsampling is handled within the
# comprehension. Note that missing data is returned as None. Each 'body'
# in the take.rigid_bodies dictionary is a RigidBody object. body.positions
# is a list with one element per frame, either None or [x,y,z].
origins = [ [rotated_point(pos) for pos in itertools.islice(body.positions, 0, len(body.positions), stride)] \
for body in take.rigid_bodies.values()]
# Similar to extract a tree of quaternion trajectories. The leaves are
# numbers, the dimensions are (num_bodies, num_frames, 4).
quats = [ [rotated_orientation(rot) for rot in itertools.islice(body.rotations, 0, len(body.rotations), stride)] \
for body in take.rigid_bodies.values()]
# Generate a tree of basis vector pairs (xaxis, yaxis). Dimensions are (num_bodies, num_frames, 2, 3)
basis_vectors = [[quaternion_to_xaxis_yaxis(rot) for rot in body] for body in quats]
# Extract the X axis basis elements into a tree of Vector3d objects with dimension (num_bodies, num_frames).
xaxes = [[Rhino.Geometry.Vector3d(*(basis[0])) for basis in body] for body in basis_vectors]
# Same for Y.
yaxes = [[Rhino.Geometry.Vector3d(*(basis[1])) for basis in body] for body in basis_vectors]
# Iterate over the 2D list structures, combining them into a 2D list of Plane objects.
planes = [[plane_or_null(origin, x, y) for origin,x,y in zip(os,xs,ys)] for os,xs,ys in zip(origins, xaxes, yaxes)]
# Recursively convert from a Python tree to a data tree.
return list_to_tree(planes)
