def to_translation_rotation(self):
tra = tr.translation_from_matrix(self.data)
mat = self.data.copy()
mat[0:3,3]=0
try:
rot,axis,point = tr.rotation_from_matrix(mat)
except ValueError:
#print "Not a rotation matrix. "
return None, None, None
return tra, rot, axis
def to_translation_rotation(self):
tra = tr.translation_from_matrix(self.data)
mat = self.data.copy()
mat[0:3,3]=0
try:
rot,axis,point = tr.rotation_from_matrix(mat)
except ValueError:
#print "Not a rotation matrix. "
return None, None, None
return tra, rot, axis
def to_translation_scale_rotation(self):
# FIXME
mat = self.data.copy()
tra = tr.translation_from_matrix(mat)
tra_mat = tr.translation_matrix(tra)
mat = numpy.dot(numpy.linalg.inv(tra_mat), mat)
factor, origin, direction = tr.scale_from_matrix(mat)
scale_mat = tr.scale_matrix(factor, origin, direction)
scale = numpy.diag(scale_mat)
mat = numpy.dot(numpy.linalg.inv(scale_mat), mat)
try:
rot,rot_axis,point = tr.rotation_from_matrix(mat)
except ValueError:
#print "Not a rotation matrix. "
return None, None, None, None
#print "Rotation axis: ",rot_axis
return tra, scale, rot, rot_axis
def to_translation_scale_rotation(self):
# FIXME
mat = self.data.copy()
tra = tr.translation_from_matrix(mat)
tra_mat = tr.translation_matrix(tra)
mat = numpy.dot(numpy.linalg.inv(tra_mat), mat)
factor, origin, direction = tr.scale_from_matrix(mat)
scale_mat = tr.scale_matrix(factor, origin, direction)
scale = numpy.diag(scale_mat)
mat = numpy.dot(numpy.linalg.inv(scale_mat), mat)
try:
rot,rot_axis,point = tr.rotation_from_matrix(mat)
except ValueError:
#print "Not a rotation matrix. "
return None, None, None, None
#print "Rotation axis: ",rot_axis
return tra, scale, rot, rot_axis
def to_quaternion_translation(self):
tra = tr.translation_from_matrix(self.data)
qua = tr.quaternion_from_matrix(self.data)
return qua, tra
def to_quaternion_translation(self):
tra = tr.translation_from_matrix(self.data)
qua = tr.quaternion_from_matrix(self.data)
return qua, tra