def m44Decompose(m=('Matrix44Pin', pyrr.Matrix44()),
t=("Reference", ('FloatVector3Pin', pyrr.Vector3())),
r=("Reference", ('QuatPin', pyrr.Quaternion())),
s=("Reference", ('FloatVector3Pin', pyrr.Vector3()))):
'''Decomposes an affine transformation matrix into its scale, rotation and translation components.'''
_s, _r, _t = pyrr.matrix44.decompose(m)
t(pyrr.Vector3(_t))
r(pyrr.Quaternion(_r))
s(pyrr.Vector3(_s))
def m44Decompose(m=(DataTypes.Matrix44, pyrr.Matrix44()),
t=(DataTypes.Reference, (DataTypes.FloatVector3,
pyrr.Vector3())),
r=(DataTypes.Reference, (DataTypes.Quaternion,
pyrr.Quaternion())),
s=(DataTypes.Reference, (DataTypes.FloatVector3,
pyrr.Vector3()))):
'''Decomposes an affine transformation matrix into its scale, rotation and translation components.'''
_s, _r, _t = pyrr.matrix44.decompose(m)
t(pyrr.Vector3(_t))
r(pyrr.Quaternion(_r))
s(pyrr.Vector3(_s))
def asDataTypeClass(self):
return pyrr.Quaternion([
self.dsbX.value(),
self.dsbY.value(),
self.dsbZ.value(),
self.dsbW.value()
])
def __init__(self, dataset_settings, obj_class='', name=''):
super(AnnotatedObjectInfo, self).__init__()
self.name = name
self.obj_class = obj_class
self.object_settings = dataset_settings.get_object_settings(
obj_class) if not (dataset_settings is None) else None
self.location = pyrr.Vector3()
self.cuboid_center = None
self.quaternion = pyrr.Quaternion([0.0, 0.0, 0.0, 1.0])
# self.bb2d = BoundingBox()
self.cuboid2d = None
self.keypoints = []
if not (self.object_settings is None):
self.dimension = self.object_settings.cuboid_dimension
self.cuboid3d = copy.deepcopy(self.object_settings.cuboid3d) if (
not self.object_settings is None) else None
self.mesh = Mesh(self.object_settings.mesh_file_path)
self.mesh.set_initial_matrix(self.object_settings.initial_matrix)
self.pivot_axis = self.object_settings.pivot_axis
else:
self.dimension = None
self.cuboid3d = None
self.mesh = None
self.pivot_axis = None
self.is_modified = False
self.relative_transform = transform3d()
def quatPower(q=('QuatPin', pyrr.Quaternion()), exp=('FloatPin', 0.0), result=("Reference", ('BoolPin', False))):
'''Returns a new Quaternion representing this Quaternion to the power of the exponent. Checks for identify quaternion'''
try:
powered = q.power(exp)
result(True)
return powered
except:
result(False)
def quatPower(q=(DataTypes.Quaternion, pyrr.Quaternion()), exp=(DataTypes.Float, 0.0), result=(DataTypes.Reference, (DataTypes.Bool, False))):
'''Returns a new Quaternion representing this Quaternion to the power of the exponent. Checks for identify quaternion'''
try:
powered = q.power(exp)
result(True)
return powered
except:
result(False)
def test_imports(self):
import pyrr
pyrr.Quaternion()
pyrr.quaternion.Quaternion()
pyrr.objects.quaternion.Quaternion()
from pyrr import Quaternion
from pyrr.objects import Quaternion
from pyrr.objects.quaternion import Quaternion
def rotation(self, value):
value = np.asanyarray(value, dtype='f4')
if isinstance(value, pyrr.Quaternion):
self._rotation = value.astype('f4')
elif isinstance(value, (np.ndarray, collections.Iterable)):
value = np.asanyarray(value, dtype='f4')
if value.shape in ((3, 3), (4, 4)):
self._rotation = pyrr.Quaternion.from_matrix(value, dtype='f4')
elif value.shape == (3,):
self._rotation = pyrr.Quaternion.from_eulers(pyrr.euler.create(*value, dtype='f4'))
elif value.shape == (4,):
self._rotation = pyrr.Quaternion(value, dtype='f4')
else:
raise ValueError(f"unexpected shape {value.shape} for rotation")
else:
raise ValueError(f"unexpected type {type(value)} for rotation")
self._rotation.flags.writeable = False
self.dirty = True
class QuatLib(FunctionLibraryBase):
'''doc string for QuatLib'''
def __init__(self):
super(QuatLib, self).__init__()
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Quaternion, pyrr.Quaternion()), nodeType=NodeTypes.Pure, meta={'Category': 'Math|Quaternion', 'Keywords': []})
def zeroQuat():
'''Returns zero quaternion.'''
return pyrr.Quaternion()
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Quaternion, pyrr.Quaternion.from_x_rotation(0.0)), nodeType=NodeTypes.Pure, meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatFromXRotation(theta=(DataTypes.Float, 0.0)):
'''Creates a new Quaternion with a rotation around the X-axis.'''
return pyrr.Quaternion.from_x_rotation(theta)
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Quaternion, pyrr.Quaternion.from_y_rotation(0.0)), nodeType=NodeTypes.Pure, meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatFromYRotation(theta=(DataTypes.Float, 0.0)):
'''Creates a new Quaternion with a rotation around the Y-axis.'''
return pyrr.Quaternion.from_y_rotation(theta)
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Quaternion, pyrr.Quaternion.from_z_rotation(0.0)), nodeType=NodeTypes.Pure, meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatFromZRotation(theta=(DataTypes.Float, 0.0)):
'''Creates a new Quaternion with a rotation around the Z-axis.'''
return pyrr.Quaternion.from_z_rotation(theta)
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Quaternion, pyrr.Quaternion.from_matrix(pyrr.Matrix33())), nodeType=NodeTypes.Pure, meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatFromMatrix33(m=(DataTypes.Matrix33, pyrr.Matrix33())):
'''Creates a Quaternion from the specified Matrix33.'''
return pyrr.Quaternion.from_matrix(m)
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Quaternion, pyrr.Quaternion.from_matrix(pyrr.Matrix44())), nodeType=NodeTypes.Pure, meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatFromMatrix44(m=(DataTypes.Matrix44, pyrr.Matrix44())):
'''Creates a Quaternion from the specified Matrix44.'''
return pyrr.Quaternion.from_matrix(m)
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Quaternion, pyrr.Quaternion()), nodeType=NodeTypes.Pure, meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatFromEulers(a=(DataTypes.Float, 0.0), b=(DataTypes.Float, 0.0), c=(DataTypes.Float, 0.0)):
'''Creates a Quaternion from the specified Euler angles.'''
return pyrr.Quaternion.from_eulers([a, b, c])
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Quaternion, pyrr.Quaternion()), nodeType=NodeTypes.Pure, meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatFromInverseOfEulers(a=(DataTypes.Float, 0.0), b=(DataTypes.Float, 0.0), c=(DataTypes.Float, 0.0)):
'''Creates a Quaternion from the specified Euler angles.'''
return pyrr.Quaternion.from_inverse_of_eulers([a, b, c])
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Quaternion, pyrr.Quaternion()), nodeType=NodeTypes.Pure, meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatFromAxisRotation(a=(DataTypes.Float, 0.0), b=(DataTypes.Float, 0.0), c=(DataTypes.Float, 0.0), theta=(DataTypes.Float, 0.0)):
'''Creates a new Quaternion with a rotation around the specified axis.'''
return pyrr.Quaternion.from_axis_rotation([a, b, c], theta)
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.FloatVector3, pyrr.Vector3()), meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatApplyToVector(q=(DataTypes.Quaternion, pyrr.Quaternion()), v=(DataTypes.FloatVector3, pyrr.Vector3())):
'''Rotates a vector by a quaternion.'''
return pyrr.Vector3(pyrr.quaternion.apply_to_vector(quat=q, vec=v))
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Float, 0.0), meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatX(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns the x component of the quat.'''
return q.x
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Float, 0.0), meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatY(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns the y component of the quat.'''
return q.y
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Float, 0.0), meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatZ(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns the z component of the quat.'''
return q.z
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Float, 0.0), meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatW(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns the w component of the quat.'''
return q.w
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Float, 0.0), meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatAngle(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns the angle around the axis of rotation of this Quaternion as a float.'''
return q.angle
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.FloatVector3, pyrr.Vector3()), meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatAxis(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns the axis of rotation of this Quaternion as a Vector3.'''
return q.axis
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Quaternion, pyrr.Quaternion()), meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatConjugate(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns the conjugate of this Quaternion.\nThis is a Quaternion with the opposite rotation.'''
return q.conjugate
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Quaternion, pyrr.Quaternion()), meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatCross(q=(DataTypes.Quaternion, pyrr.Quaternion()), other=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns the cross of this Quaternion and another.\nThis is the equivalent of combining Quaternion rotations (like Matrix multiplication).'''
return q.cross(other)
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Quaternion, pyrr.Quaternion()), meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatInverse(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns the inverse of this quaternion.'''
return q.inverse
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Bool, False), meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatIsIdentity(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns True if the Quaternion has no rotation (0.,0.,0.,1.).'''
return q.is_identity
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Float, False), meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatLength(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns the length of this Quaternion.'''
return q.length
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Float, False), meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatSquaredLength(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Calculates the squared length of a quaternion.\nUseful for avoiding the performanc penalty of the square root function.'''
return pyrr.quaternion.squared_length(q)
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Quaternion, pyrr.Quaternion()), meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatLerp(q1=(DataTypes.Quaternion, pyrr.Quaternion()), q2=(DataTypes.Quaternion, pyrr.Quaternion()), t=(DataTypes.Float, 0.0)):
'''Interpolates between q1 and q2 by t. The parameter t is clamped to the range [0, 1].'''
return q1.lerp(q2, t)
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Matrix33, pyrr.Matrix33()), meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatAsMatrix33(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns a Matrix33 representation of this Quaternion.'''
return q.matrix33
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Matrix44, pyrr.Matrix44()), meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatAsMatrix44(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns a Matrix44 representation of this Quaternion.'''
return q.matrix44
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Quaternion, pyrr.Quaternion()), meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatNegative(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns the negative of the Quaternion.'''
return q.negative
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Quaternion, pyrr.Quaternion()), meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatNormalize(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns a normalized version of this Quaternion as a new Quaternion.'''
return q.normalized
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Quaternion, pyrr.Quaternion()), meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatPower(q=(DataTypes.Quaternion, pyrr.Quaternion()), exp=(DataTypes.Float, 0.0), result=(DataTypes.Reference, (DataTypes.Bool, False))):
'''Returns a new Quaternion representing this Quaternion to the power of the exponent. Checks for identify quaternion'''
try:
powered = q.power(exp)
result(True)
return powered
except:
result(False)
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Quaternion, pyrr.Quaternion()), meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatSlerp(q1=(DataTypes.Quaternion, pyrr.Quaternion()), q2=(DataTypes.Quaternion, pyrr.Quaternion()), t=(DataTypes.Float, 0.0)):
'''Spherically interpolates between quat1 and quat2 by t. The parameter t is clamped to the range [0, 1].'''
return q1.slerp(q2, t)
@staticmethod
@IMPLEMENT_NODE(returns=(DataTypes.Bool, False), meta={'Category': 'Math|Quaternion', 'Keywords': []})
def quatIsZeroLength(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Checks if a quaternion is zero length.'''
return pyrr.quaternion.is_zero_length(q)
def quatSlerp(q1=(DataTypes.Quaternion, pyrr.Quaternion()), q2=(DataTypes.Quaternion, pyrr.Quaternion()), t=(DataTypes.Float, 0.0)):
'''Spherically interpolates between quat1 and quat2 by t. The parameter t is clamped to the range [0, 1].'''
return q1.slerp(q2, t)
def quatIsZeroLength(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Checks if a quaternion is zero length.'''
return pyrr.quaternion.is_zero_length(q)
def quatNormalize(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns a normalized version of this Quaternion as a new Quaternion.'''
return q.normalized
def quatMult(q1=(DataTypes.Quaternion, pyrr.Quaternion()), q2=(DataTypes.Quaternion, pyrr.Quaternion())):
'''"*" operator for quaternions.'''
return q1 * q2
def quatConjugate(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns the conjugate of this Quaternion.\nThis is a Quaternion with the opposite rotation.'''
return q.conjugate
def quatNegative(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns the negative of the Quaternion.'''
return q.negative
def quatAngle(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns the angle around the axis of rotation of this Quaternion as a float.'''
return q.angle
def isQuatInList(List=(DataTypes.Array, []), Value=(DataTypes.Quaternion, pyrr.Quaternion())):
return Value in List
def quatIsIdentity(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns True if the Quaternion has no rotation (0.,0.,0.,1.).'''
return q.is_identity
def quatLength(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns the length of this Quaternion.'''
return q.length
def quatInverse(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns the inverse of this quaternion.'''
return q.inverse
def zeroQuat():
'''Returns zero quaternion.'''
return pyrr.Quaternion()
def quatCross(q=(DataTypes.Quaternion, pyrr.Quaternion()), other=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns the cross of this Quaternion and another.\nThis is the equivalent of combining Quaternion rotations (like Matrix multiplication).'''
return q.cross(other)
def quatApplyToVector(q=(DataTypes.Quaternion, pyrr.Quaternion()), v=(DataTypes.FloatVector3, pyrr.Vector3())):
'''Rotates a vector by a quaternion.'''
return pyrr.Vector3(pyrr.quaternion.apply_to_vector(quat=q, vec=v))
def quatToString(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Convert to quat to str'''
return str(q)
def quatW(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns the w component of the quat.'''
return q.w
def quatAxis(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns the axis of rotation of this Quaternion as a Vector3.'''
return q.axis
def quatLerp(q1=(DataTypes.Quaternion, pyrr.Quaternion()), q2=(DataTypes.Quaternion, pyrr.Quaternion()), t=(DataTypes.Float, 0.0)):
'''Interpolates between q1 and q2 by t. The parameter t is clamped to the range [0, 1].'''
return q1.lerp(q2, t)
def quatAsMatrix44(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns a Matrix44 representation of this Quaternion.'''
return q.matrix44
def quatSquaredLength(q=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Calculates the squared length of a quaternion.\nUseful for avoiding the performanc penalty of the square root function.'''
return pyrr.quaternion.squared_length(q)
def quatDot(q=(DataTypes.Quaternion, pyrr.Quaternion()), other=(DataTypes.Quaternion, pyrr.Quaternion())):
'''Returns the dot of this Quaternion and another.'''
return q.dot(other)
