def Transforms(S):
T = []
h, l1, l2 = S.L
theta1, theta2, theta3, d = S.Theta
Ti = v.translation_matrix(0, 0, h)
T.append(Ti)
T1 = v.translation_matrix(l1, 0, 0)
T2 = v.rotation_matrix(theta1, 0, 0, 1)
Ti = Mul(T2, T1)
T.append(Ti)
T1 = v.translation_matrix(l2, 0, 0)
T2 = v.rotation_matrix(theta2, 0, 0, 1)
Ti = Mul(T2, T1)
T.append(Ti)
T1 = v.translation_matrix(0, 0, -d)
T2 = v.rotation_matrix(theta3, 0, 0, 1)
Ti = Mul(T2, T1)
T.append(Ti)
T.reverse()
return T
def Transforms(S):
T = []
n = len(S.Theta)
for i in range(n - 1, -1, -1):
T1 = v.translation_matrix(S.L[i], 0, 0)
T2 = v.rotation_matrix(S.Theta[i], 0, 0, 1) # z-axis
Ti = Mul(T2, T1)
T.append(Ti)
T.reverse()
return T
def Transforms(S):
T = []
Ti = v.translation_matrix(S.A[0], S.A[0], S.A[1])
Ri = v.rotation_matrix(S.Theta[0] + 90, 0, 1, 0)
T.append(Mul(Ti, Ri))
Ti = v.translation_matrix(S.A[2], S.A[2], S.A[3])
Ri = v.rotation_matrix(S.Theta[1], 0, 0, 1)
T.append(Mul(Ti, Ri))
Ti = v.translation_matrix(S.A[4], S.A[4], S.A[5])
Ri = v.rotation_matrix(S.Theta[2] - 90, 0, 1, 0)
T.append(Mul(Ti, Ri))
Ri = v.rotation_matrix(S.Theta[3] + 90, 0, 1, 0)
T.append(Ri)
Ri = v.rotation_matrix(S.Theta[4] - 90, 0, 1, 0)
T.append(Ri)
Ri = v.rotation_matrix(S.Theta[5], 0, 0, 1)
T.append(Ri)
T.reverse()
return T
def Transforms(S):
T = []
l1,l2,l3 = S.L
theta1,theta2,theta3 = S.Theta
T1 = v.translation_matrix(l1,0,0)
T2 = v.rotation_matrix(theta1,0,0,1)
Ti = Mul(T2,T1)
T.append(Ti)
T1 = v.translation_matrix(l2,0,0)
T2 = v.rotation_matrix(theta2,0,0,1)
Ti = Mul(T2,T1)
T.append(Ti)
T1 = v.translation_matrix(l3,0,0)
T2 = v.rotation_matrix(theta3,0,0,1)
Ti = Mul(T2,T1)
T.append(Ti)
#T.reverse()
return T
def Rotate(shape, theta, align=True):
R = vec.rotation_matrix(theta, 0, 0, 1)
SHAPE = Transform(shape, R)
if align:
SHAPE = Round(SHAPE)
return SHAPE
def Rotate(shape, degrees, x, y, z):
R = v.rotation_matrix(degrees, x, y, z)
SHAPE = Transform(shape, R)
return SHAPE