def _get_torso_corner_transformation(translation_vector, rotate_along,
rotate_radians):
r = get_rotate_matrix_along_axis(rotate_along, rotate_radians)
t = get_translate_matrix(*translation_vector)
transformation = t.dot(r)
return transformation
def _get_target_with_hip_transversal_counteracted(self):
move_back_to_origin = get_translate_matrix(-self.hip_top_position.x, -self.hip_top_position.y, -self.hip_top_position.z)
rotate_along_z_axis = get_rotate_matrix_along_axis('z', self.hip_transversal_radians)
move_back_to_point = get_translate_matrix(self.hip_top_position.x, self.hip_top_position.y, self.hip_top_position.z)
target_at_ankle__with_hip_transversal_counteracted = apply_matrix_to_vertex(self.target_at_ankle, move_back_to_point.dot(rotate_along_z_axis.dot(move_back_to_origin)))
return Point(target_at_ankle__with_hip_transversal_counteracted)
def _get_torso_corner_transformation(translation_vector, rotate_along, rotate_radians):
r = get_rotate_matrix_along_axis(rotate_along, rotate_radians)
t = get_translate_matrix(*translation_vector)
transformation = t.dot(r)
return transformation
