def create_field_euler_angles_rotation_matrix(fieldmodule: Fieldmodule,
euler_angles: Field) -> Field:
"""
From OpenCMISS-Zinc graphics_library.cpp, matrix transposed to row major.
Matrix is product RzRyRx, giving rotation about x, then y, then z with
positive angles rotating by right hand rule about axis.
:param fieldmodule: The fieldmodule to create the field in.
:param euler_angles: 3-component field of angles in radians, components:
0 = azimuth (about z)
1 = elevation (about y)
2 = roll (about x)
:return: 3x3 rotation matrix field suitable for pre-multiplying vector v
i.e. v' = Mv
"""
assert euler_angles.getNumberOfComponents() == 3
with ChangeManager(fieldmodule):
azimuth = fieldmodule.createFieldComponent(euler_angles, 1)
cos_azimuth = fieldmodule.createFieldCos(azimuth)
sin_azimuth = fieldmodule.createFieldSin(azimuth)
elevation = fieldmodule.createFieldComponent(euler_angles, 2)
cos_elevation = fieldmodule.createFieldCos(elevation)
sin_elevation = fieldmodule.createFieldSin(elevation)
roll = fieldmodule.createFieldComponent(euler_angles, 3)
cos_roll = fieldmodule.createFieldCos(roll)
sin_roll = fieldmodule.createFieldSin(roll)
minus_one = fieldmodule.createFieldConstant([-1.0])
cos_azimuth_sin_elevation = cos_azimuth * sin_elevation
sin_azimuth_sin_elevation = sin_azimuth * sin_elevation
matrix_components = [
cos_azimuth * cos_elevation,
cos_azimuth_sin_elevation * sin_roll - sin_azimuth * cos_roll,
cos_azimuth_sin_elevation * cos_roll + sin_azimuth * sin_roll,
sin_azimuth * cos_elevation,
sin_azimuth_sin_elevation * sin_roll + cos_azimuth * cos_roll,
sin_azimuth_sin_elevation * cos_roll - cos_azimuth * sin_roll,
minus_one * sin_elevation, cos_elevation * sin_roll,
cos_elevation * cos_roll
]
rotation_matrix = fieldmodule.createFieldConcatenate(matrix_components)
return rotation_matrix
def create_field_euler_angles_rotation_matrix(fieldmodule: Fieldmodule, euler_angles: Field) -> Field:
"""
From OpenCMISS-Zinc graphics_library.cpp, transposed.
:param fieldmodule:
:param euler_angles: 3-component field of angles in radians, components:
1 = azimuth (about z)
2 = elevation (about rotated y)
3 = roll (about rotated x)
:return: 3x3 rotation matrix field suitable for pre-multiplying [x, y, z].
"""
assert euler_angles.getNumberOfComponents() == 3
with ChangeManager(fieldmodule):
azimuth = fieldmodule.createFieldComponent(euler_angles, 1)
cos_azimuth = fieldmodule.createFieldCos(azimuth)
sin_azimuth = fieldmodule.createFieldSin(azimuth)
elevation = fieldmodule.createFieldComponent(euler_angles, 2)
cos_elevation = fieldmodule.createFieldCos(elevation)
sin_elevation = fieldmodule.createFieldSin(elevation)
roll = fieldmodule.createFieldComponent(euler_angles, 3)
cos_roll = fieldmodule.createFieldCos(roll)
sin_roll = fieldmodule.createFieldSin(roll)
minus_one = fieldmodule.createFieldConstant([-1.0])
cos_azimuth_sin_elevation = cos_azimuth*sin_elevation
sin_azimuth_sin_elevation = sin_azimuth*sin_elevation
matrix_components = [
cos_azimuth*cos_elevation,
cos_azimuth_sin_elevation*sin_roll - sin_azimuth*cos_roll,
cos_azimuth_sin_elevation*cos_roll + sin_azimuth*sin_roll,
sin_azimuth*cos_elevation,
sin_azimuth_sin_elevation*sin_roll + cos_azimuth*cos_roll,
sin_azimuth_sin_elevation*cos_roll - cos_azimuth*sin_roll,
minus_one*sin_elevation,
cos_elevation*sin_roll,
cos_elevation*cos_roll]
rotation_matrix = fieldmodule.createFieldConcatenate(matrix_components)
return rotation_matrix