def __init__(self, ADDone, ADDtwo):
super(CSGadd, self).__init__()
self.ADDone = ADDone
self.ADDtwo = ADDtwo
self.reference = 'CSGadd'
self.transform = tf.identity_matrix()
def __init__(self, INTone, INTtwo):
super(CSGint, self).__init__()
self.INTone = INTone
self.INTtwo = INTtwo
self.reference = 'CSGint'
self.transform = tf.identity_matrix()
def __init__(self, INTone, INTtwo):
super(CSGint, self).__init__()
self.INTone = INTone
self.INTtwo = INTtwo
self.reference = 'CSGint'
self.transform = tf.identity_matrix()
def __init__(self, SUBplus, SUBminus):
"""
Definition {CSGsub} := {SUBplus}/{SUBminus}
"""
super(CSGsub, self).__init__()
self.SUBplus = SUBplus
self.SUBminus = SUBminus
self.reference = 'CSGsub'
self.transform = tf.identity_matrix()
def __init__(self, SUBplus, SUBminus):
"""
Definition {CSGsub} := {SUBplus}/{SUBminus}
"""
super(CSGsub, self).__init__()
self.SUBplus = SUBplus
self.SUBminus = SUBminus
self.reference = 'CSGsub'
self.transform = tf.identity_matrix()
def rotation_matrix_from_vector_alignment(before, after):
"""
:param before: vector before rotation
:param after: vector after rotation
:return: rotation matrix
"""
"""
>>> # General input/output test
>>> V1 = norm(np.random.random(3))
>>> V2 = norm([1, 1, 1])
>>> R = rotation_matrix_from_vector_alignment(V1, V2)
>>> V3 = transform_direction(V1, R)
>>> cmp_points(V2, V3)
True
>>> # Catch the special case in which we cannot take the cross product
>>> V1 = [0, 0, 1]
>>> V2 = [0, 0, 1]
>>> R = rotation_matrix_from_vector_alignment(V1, V2)
>>> V3 = transform_direction(V1, R)
>>> cmp_points(V2, V3)
True
>>> # Catch the special case in which we cannot take the cross product
>>> V1 = [0, 0, 1]
>>> V2 = [0, 0, -1]
>>> R = rotation_matrix_from_vector_alignment(V1, V2)
>>> V3 = transform_direction(V1, R)
>>> cmp_points(V2, V3)
True
"""
# The angle between the vectors must not be 0 or 180 (i.e. so we can take a cross product)
# import pdb; pdb.set_trace()
the_dot = np.dot(before, after)
if cmp_floats(the_dot, 1.):
# Vectors are parallel
return tf.identity_matrix()
if cmp_floats(the_dot, -1.):
# Vectors are anti-parallel
# print "Vectors are anti-parallel this might crash."
return tf.identity_matrix() * -1.
rotation_axis = np.cross(before, after) # get the axis of rotation
rotation_angle = np.arccos(np.dot(before, after)) # get the rotation angle
return rotation_matrix(rotation_angle, rotation_axis)
def __init__(self, transform=None):
"""
Transform is a 4x4 transformation matrix that rotates and translates the plane into the global frame
(a plane in the xy plane point with normal along (+ve) z).
"""
super(Plane, self).__init__()
self.transform = transform
if self.transform is None:
self.transform = tf.identity_matrix()
def transform_direction(direction, transform):
try:
rotation_angle, rotation_axis, point = tf.rotation_from_matrix(transform)
except ValueError:
if tf.is_same_transform(tf.identity_matrix() * -1, transform):
# The ray direction needs to be reversed
return np.array(direction) * -1.
rotation_transform = tf.rotation_matrix(rotation_angle, rotation_axis)
return np.array(np.dot(rotation_transform,
np.matrix(np.concatenate((direction, [1.]))).transpose()).transpose()[0,0:3]).squeeze()
def __init__(self, add_one, add_two):
super(CSGadd, self).__init__()
self.ADDone = add_one
self.ADDtwo = add_two
self.reference = 'CSGadd'
self.transform = tf.identity_matrix()
def __init__(self, radius=1, length=1):
super(Cylinder, self).__init__()
self.radius = radius
self.length = length
self.transform = tf.identity_matrix()
def __init__(self, origin=(0, 0, 0), extent=(1, 1, 1)):
super(Box, self).__init__()
self.origin = np.array(origin)
self.extent = np.array(extent)
self.points = [origin, extent]
self.transform = tf.identity_matrix()