def transformation_matrix(self, cmd):
'''
transformation_matrix
'''
from PyRatBox import PyRatBox
from PyRatClone import PyRatClone
try:
matrix = self.matrix
except:
matrix = np.matrix(np.eye(3))
try:
offset = self.offset
except:
offset = np.zeros(3)
try:
try:
this = cmd.split[1:]
except:
this = cmd[1:]
clone = PyRatClone(np.ones(3), np.ones(3))
for i, n in enumerate(this):
noGood = False
if n == 'scale':
scale = float(this[i + 1])
matrix2, offset2 = self.load_scaling_matrix4(scale)
elif n == 'transformation_matrix':
matrix2,offset2 = np.matrix(np.array(this[i+1:i+1+9])\
.reshape((3,3)).astype(float))
elif n == 'scale_differential':
fix_point = np.array(this[i + 1:i + 1 + 3]).astype(float)
matrix2, offset2 = self.load_differential_scaling_matrix4(
fix_point)
elif n == 'translate':
offset3 = np.array(this[i + 1:i + 1 + 3]).astype(float)
matrix2, offset2 = self.load_translation_matrix4(offset3)
elif n == 'rotate_about_x_axis':
rot = float(this[i + 1])
matrix2, offset2 = self.load_x_axis_rotation_matrix4(rot)
elif n == 'rotate_about_y_axis':
rot = float(this[i + 1])
matrix2, offset2 = self.load_y_axis_rotation_matrix4(rot)
elif n == 'rotate_about_z_axis':
rot = float(this[i + 1])
matrix2, offset2 = self.load_z_axis_rotation_matrix4(rot)
elif n == 'rotate_about_arbitrary_axis':
axis = np.array(this[i + 1:i + 1 + 3]).astype(float)
rot = float(this[i + 3])
fix_point = np.array(this[i + 4:i + 4 + 3]).astype(float)
matrix2, offset2 = self.rotate_about_arbitrary_axis(
axis, rot, fix_point)
elif n == 'scale_fix_point':
scale = float(this[i + 1])
fix_point = np.array(this[i + 2:i + 2 + 3]).astype(float)
matrix2, offset2 = self.load_scaling_fix_point_matrix4(
scale, fix_point)
elif n == 'scale_differential_fix_point':
scale = np.array(this[i + 1:i + 1 + 3]).astype(float)
fix_point = np.array(this[i + 3:i + 3 + 3]).astype(float)
matrix2,offset2 = self.load_differential_scaling_fix_point_matrix4(\
scale,fix_point)
elif n == 'rotate_about_x_axis_fix_point':
rot = float(this[i + 1])
fix_point = np.array(this[i + 2:i + 2 + 3]).astype(float)
matrix2,offset2 = self.load_x_axis_rotation_fix_point_matrix4(\
theta,fix_point)
elif n == 'rotate_about_y_axis_fix_point':
rot = float(this[i + 1])
fix_point = np.array(this[i + 2:i + 2 + 3]).astype(float)
matrix2,offset2 = self.load_y_axis_rotation_fix_point_matrix4(\
theta,fix_point)
elif n == 'rotate_about_z_axis_fix_point':
rot = float(this[i + 1])
fix_point = np.array(this[i + 2:i + 2 + 3]).astype(float)
matrix2,offset2 = self.load_z_axis_rotation_fix_point_matrix4(\
theta,fix_point)
else:
noGood = True
if not noGood:
clone.matrix = matrix2 * matrix
clone.matrixI = clone.matrix.I
if (matrix != np.matrix(np.eye(3))).all():
clone.matrix = matrix
if np.abs(offset).sum() > 0:
clone.offset = offset
clone.contents = []
self.top.contents.append(clone)
self.verbose == 2 and sys.stderr.write('<M>')
except:
self.error('could not interpret clone line %d of %s: %s'%\
(self.lineNumber,self.filename,' '.join(cmd)))
def clone(self, cmd):
'''
clone
clone dx dy dz [Rz] name
'''
from PyRatBox import PyRatBox
from PyRatClone import PyRatClone
try:
try:
this = cmd.split[1:]
except:
this = cmd[1:]
# look up groups
try:
offset = np.array(this[:3]).astype(float)
this = cmd[4:]
except:
offset = np.zeros(3)
thisGroup = None
thisGroupName = None
matrix = np.matrix(np.eye(3))
done = np.zeros_like(np.array(this)).astype(bool)
for i in xrange(len(this)):
if not done[i]:
if this[i] == 'Rx':
theta = float(this[i + 1]) * np.pi / 180.
done[i:i + 2] = True
if theta != 0:
c = np.cos(theta)
s = np.sin(theta)
m = np.eye(3)
m[1, 1] = m[2, 2] = c
m[2, 1] = s
m[1, 2] = -s
matrix = matrix * np.matrix(m)
elif this[i] == 'Ry':
theta = float(this[i + 1]) * np.pi / 180.
done[i:i + 2] = True
if theta != 0:
c = np.cos(theta)
s = np.sin(theta)
m = np.eye(3)
m[2, 2] = m[0, 0] = c
m[0, 2] = s
m[2, 0] = -s
matrix = matrix * np.matrix(m)
elif this[i] == 'Rz':
theta = float(this[i + 1]) * np.pi / 180.
done[i:i + 2] = True
if theta != 0:
c = np.cos(theta)
s = np.sin(theta)
m = np.eye(3)
m[0, 0] = m[1, 1] = c
m[0, 1] = -s
m[1, 0] = s
matrix = matrix * np.matrix(m)
elif this[i] == 'Transform':
# arbitrary 3 x 3 rotation
m = \
np.matrix(np.array(this[i+1:i+9+1]).astype(float).reshape((3,3)))
done[i + 1:i + 9 + 1] = True
matrix = matrix * np.matrix(m)
else:
# maybe its a grp name
possible = ' '.join(this[i:])
try:
thisGroup = self.group[possible]
thisGroupName = possible
done[:] = True
except:
# maybe its a z rotation
try:
theta = float(this[i]) * np.pi / 180.
done[i] = True
if theta != 0:
c = np.cos(theta)
s = np.sin(theta)
m = np.eye(3)
m[0, 0] = m[1, 1] = c
m[0, 1] = -s
m[1, 0] = s
matrix = matrix * np.matrix(m)
except:
pass
# NB dummy extent at this point
clone = PyRatClone(np.zeros(3), None)
clone.empty = False
clone.invisible = True
if (matrix != np.matrix(np.eye(3))).any():
clone.matrix = matrix
clone.thisGroup = thisGroup
clone.thisGroupName = thisGroupName
if np.abs(offset).sum() > 0:
clone.offset = offset
clone.contents = [clone.thisGroup]
self.top.contents.append(clone)
self.verbose == 2 and sys.stderr.write(
'<Clone %s>' % thisGroupName)
except:
self.error('could not interpret clone line %d of %s: %s'%\
(self.lineNumber,self.filename,' '.join(cmd)))
