def insert_keyframe(
obj: bpy.types.Object,
vec: np.ndarray,
datapath: str,
frame: int = bpy.context.scene.frame_current) -> np.ndarray:
bpy.context.scene.frame_set(frame)
if datapath == "rotation":
if obj.rotation_mode == "AXIS_ANGLE":
datapath = "rotation_axis_angle"
elif obj.rotation_mode == "QUATERNION":
datapath = "rotation_quaternion"
else:
datapath = "rotation_euler"
if datapath == "location":
obj.location = (vec[0], vec[1], vec[2])
elif datapath == "rotation_euler":
obj.rotation_mode = "XYZ"
obj.rotation_euler = (vec[0], vec[1], vec[2])
elif datapath == "rotation_quaternion":
obj.rotation_mode = "QUATERNION"
obj.rotation_quaternion = (vec[0], vec[1], vec[2], vec[3])
elif datapath == "rotation_axis_angle":
obj.rotation_mode = "AXIS_ANGLE"
obj.rotation_axis_angle = (vec[0], vec[1], vec[2], vec[3])
elif datapath == "scale":
obj.scale = (vec[0], vec[1], vec[2])
else:
raise NotImplementedError("Illegal datapath!")
obj.keyframe_insert(data_path=datapath, frame=frame)
def setObjectRotationQuaternion(obj: bpy.types.Object, rot: Quaternion):
if obj.rotation_mode == "QUATERNION":
obj.rotation_quaternion = rot
elif obj.rotation_mode == "AXIS_ANGLE":
obj.rotation_axis_angle = rot.to_axis_angle()
else:
obj.rotation_euler = rot.to_euler(obj.rotation_mode)
def set_transformation(obj: bpy.types.Object, transf: Dict[str, str]) -> None:
"""set the transformation of an object"""
trans = transf['translation']
rot = transf['rotation']
obj.location = trans
# blender.point_at(cam, root_obj, 'TRACK_NEGATIVE_Z', 'UP_Y')
if isinstance(rot, dict):
point_at_obj = blender.get_obj_by_name(rot['point_at'])
blender.point_at(obj, point_at_obj,
blender.TRACK_AXIS[rot.get('track_axis', '-z')],
blender.UP_AXIS[rot.get('up_axis', 'y')])
else:
if len(rot) == 3:
# I think Panda3D's HPR is intrinsic
# If Blender is extrinsic, the order can just be reversed, LOL
# rot is in HPR form
# H -> Z
# P -> X
# R -> Y
obj.rotation_mode = 'ZXY'
obj.rotation_euler = (
math.radians(rot[1]), # X == (ZXY)[1]
math.radians(rot[2]), # Y == (ZXY)[2]
math.radians(rot[0]), # Z == (ZXY)[0]
)
else:
obj.rotation_mode = 'QUATERNION'
obj.rotation_quaternion = rot
def change_rotation_mode(obj: bpy.types.Object,
rotation_mode: str,
normalized: bool = True):
if rotation_mode == "rotation_axis_angle":
rotation_mode = "AXIS_ANGLE"
elif rotation_mode == "rotation_quaternion":
rotation_mode = "QUATERNION"
elif rotation_mode == "rotation_euler":
rotation_mode = "XYZ"
obj.rotation_mode = rotation_mode
if normalized and obj.rotation_mode == "AXIS_ANGLE":
axis_angle = normalize_axis_angle(vec2np(obj.rotation_axis_angle))[0]
obj.rotation_axis_angle = (axis_angle[0], axis_angle[1], axis_angle[2],
axis_angle[3])
elif normalized and obj.rotation_mode == "QUATERNION":
quat = normalize_quaternion(vec2np(obj.rotation_quaternion))[0]
obj.rotation_quaternion = (quat[0], quat[1], quat[2], quat[3])
def set_rotation(blender_object: bpy.types.Object, rotation: Any,
rotation_mode: str) -> None:
"""
Sets the rotation of a Blender Object and takes care of picking which
rotation type to give the value to
"""
if rotation_mode == "AXIS_ANGLE":
assert len(rotation[1]) == 3
blender_object.rotation_axis_angle = rotation
elif rotation_mode == "QUATERNION":
assert len(rotation) == 4
blender_object.rotation_quaternion = rotation
elif set(rotation_mode) == {"X", "Y", "Z"}:
assert len(rotation) == 3
blender_object.rotation_euler = rotation
else:
assert False, "Unsupported rotation mode: " + blender_object.rotation_mode
def set_object_rotation(context,
position_properties: WorkpiecePosition,
scene_object: bpy.types.Object):
rotations = WorkpieceOperator.visible_surface_rotation(
position_properties.visible_surface)
rotations.extend(WorkpieceOperator.view_rotation(
context,
position_properties.view))
rotations.extend(WorkpieceOperator.orientation_rotation(
context,
position_properties.orientation,
position_properties.view))
scene_object.rotation_mode = 'QUATERNION'
object_rotations = scene_object.rotation_quaternion.copy()
for rotation in rotations:
object_rotations = WorkpieceOperator.quaternion_rotation(
rotation, object_rotations)
scene_object.rotation_quaternion = object_rotations
def setObjQuaternionRotation(obj: bpy.types.Object, rotation: Vector3f):
obj.rotation_mode = 'QUATERNION'
obj.rotation_quaternion = makeQuaternionRotation(rotation)