def _rotateEachEntWithQuaternion(self, q, ents, angle):
""" Rotate each object along selected axis """
for ent in ents:
ort = ent.placeable.Orientation
v1 = ort.rotatedVector(QVector3D(1,0,0))
v2 = ort.rotatedVector(QVector3D(0,1,0))
v3 = ort.rotatedVector(QVector3D(0,0,1))
# rotated unit vectors are equals of objects unit vectors in objects perspective
# this gives equation M * x = x' (x=(i,j,k) & x'=(i',j',k'))
# ( M = conversion matrix, x = world unit vector, x' = object unit vector)
# multiply each sides of equation with inverted matrix of M^-1 gives us:
# I * x = M^-1 *x' => x = M^-1 * x'
# => we can now express world unit vectors i,j,k with i',j',k'
# with help of inverted matrix, and use objects quaternion to rotate
# along world unit vectors i, j, k
m = ((v1.x(),v1.y(),v1.z()),(v2.x(),v2.y(),v2.z()),(v3.x(),v3.y(),v3.z()))
inv = mu.invert_3x3_matrix(m)
if self.grabbed_axis == self.AXIS_RED: #rotate around x-axis
axis = QVector3D(inv[0][0],inv[0][1],inv[0][2])
elif self.grabbed_axis == self.AXIS_GREEN: #rotate around y-axis
axis = QVector3D(inv[1][0],inv[1][1],inv[1][2])
elif self.grabbed_axis == self.AXIS_BLUE: #rotate around z-axis
axis = QVector3D(inv[2][0],inv[2][1],inv[2][2])
q = QQuaternion.fromAxisAndAngle(axis, angle)
q.normalize()
ent.placeable.Orientation = ort*q
def rotateOgreNode(self, on, axis, angle, axisName):
ort = on.orientation
v1 = ort.rotatedVector(Vec(1,0,0))
v2 = ort.rotatedVector(Vec(0,1,0))
v3 = ort.rotatedVector(Vec(0,0,1))
m = ((v1.x(),v1.y(),v1.z()),(v2.x(),v2.y(),v2.z()),(v3.x(),v3.y(),v3.z()))
inv = mu.invert_3x3_matrix(m)
switchAxis={'x':Vec(inv[0][0],inv[0][1],inv[0][2]), 'y':Vec(inv[1][0],inv[1][1],inv[1][2]), 'z':Vec(inv[2][0],inv[2][1],inv[2][2])}
rotateAxis = switchAxis[axisName]
# print "rotateAxis: %s"%rotateAxis
# print "angle: %s"%angle
q = Quat.fromAxisAndAngle(rotateAxis, angle)
q.normalize()
on.orientation = ort*q
e = on.naali_ent
o = on.orientation
p=e.placeable
p.Orientation = on.orientation
def rotateOgreNode(self, on, axis, angle, axisName):
ort = on.orientation
v1 = ort.rotatedVector(Vec(1, 0, 0))
v2 = ort.rotatedVector(Vec(0, 1, 0))
v3 = ort.rotatedVector(Vec(0, 0, 1))
m = ((v1.x(), v1.y(), v1.z()), (v2.x(), v2.y(), v2.z()),
(v3.x(), v3.y(), v3.z()))
inv = mu.invert_3x3_matrix(m)
switchAxis = {
'x': Vec(inv[0][0], inv[0][1], inv[0][2]),
'y': Vec(inv[1][0], inv[1][1], inv[1][2]),
'z': Vec(inv[2][0], inv[2][1], inv[2][2])
}
rotateAxis = switchAxis[axisName]
# print "rotateAxis: %s"%rotateAxis
# print "angle: %s"%angle
q = Quat.fromAxisAndAngle(rotateAxis, angle)
q.normalize()
on.orientation = ort * q
e = on.naali_ent
o = on.orientation
p = e.placeable
p.Orientation = on.orientation
