def euler_to_gp_trsf(euler_zxz=None, unit="deg"):
"""
returns a rotation-only gp_Trsf given Euler angles
:param euler_zxz: a list of three intrinsic Euler angles
in zxz-convention
:param unit: If "deg", the euler angles are in degrees,
otherwise radians
:return: A rotation-only gp_Trsf
"""
if euler_zxz is None:
euler_zxz = [0, 0, 0]
if unit == "deg": # convert angle to radians
euler_zxz = [radians(a) for a in euler_zxz]
x = gp_Ax1(gp_Pnt(), gp_Dir(1, 0, 0))
z = gp_Ax1(gp_Pnt(), gp_Dir(0, 0, 1))
trns = gp_Trsf()
trns.SetRotation(z, euler_zxz[2])
trns_next = gp_Trsf()
trns_next.SetRotation(x, euler_zxz[1])
trns = trns *trns_next
trns_next = gp_Trsf()
trns_next.SetRotation(z, euler_zxz[0])
return trns *trns_next
def rotate(self, x=0.0, y=0.0, z=0.0):
trsf = gp_Trsf()
if (x != 0.0):
axx = gp_Ax1(gp_Pnt(0., 0., 0.), gp_Dir(1., 0., 0.))
a_trsf1 = gp_Trsf()
a_trsf1.SetRotation(axx, math.radians(x))
#trsf = trsf*a_trsf1
trsf = a_trsf1 * trsf
if (y != 0.0):
axy = gp_Ax1(gp_Pnt(0., 0., 0.), gp_Dir(0., 1., 0.))
a_trsf2 = gp_Trsf()
a_trsf2.SetRotation(axy, math.radians(y))
#trsf = trsf*a_trsf2
trsf = a_trsf2 * trsf
if (z != 0.0):
axz = gp_Ax1(gp_Pnt(0., 0., 0.), gp_Dir(0., 0., 1.))
a_trsf3 = gp_Trsf()
a_trsf3.SetRotation(axz, math.radians(z))
#trsf = trsf*a_trsf3
trsf = a_trsf3 * trsf
for c in self.children:
c.propagate_trsf(trsf)
def generate_tool_targets(self):
ba = BRepAdaptor_Curve(self.helix_edge)
u_min = ba.FirstParameter()
u_max = ba.LastParameter()
u_step = 0.1
u_now = u_min
while u_now <= u_max:
v_contact = gp_Vec(ba.Value(u_now).XYZ())
if self.inside: # cut inside
v_contact_to_ball_center = -gp_Vec(v_contact.X(),v_contact.Y(),0).Normalized()*self.ball_radius
else: # cut outside
v_contact_to_ball_center = gp_Vec(v_contact.X(),v_contact.Y(),0).Normalized()*self.ball_radius
trsf = gp_Trsf()
trsf.SetRotation(gp_Ax1(gp_Pnt(0,0,0),gp_Dir(0,0,1)),pi/2)
v_rotation_axis = v_contact_to_ball_center.Transformed(trsf)
trsf.SetRotation(gp_Ax1(gp_Pnt(0,0,0),gp_Dir(v_rotation_axis.XYZ())),radians(self.cutting_angle))
v_ball_center_to_tool_tip = gp_Vec(0,0,-self.ball_radius)
v_ball_center_to_tool_tip.Transform(trsf)
v_tool_tip = v_contact+v_contact_to_ball_center+v_ball_center_to_tool_tip
v_tool_orientation = - v_ball_center_to_tool_tip.Normalized() * (0.500+1e-8)
if self.create_target_vis_edges:
me = BRepBuilderAPI_MakeEdge(gp_Pnt(v_tool_tip.XYZ()),gp_Pnt((v_tool_tip+v_tool_orientation).XYZ()))
self.target_edges.append(me.Edge())
I = v_tool_tip.X() / 1000
J = v_tool_tip.Y() / 1000
K = v_tool_tip.Z() / 1000
U = v_tool_orientation.X()
V = v_tool_orientation.Y()
W = v_tool_orientation.Z()
x,y,z,a,b = self.ikSolver.solve((I,J,K,U,V,W),1e-6,False)
x += self.output_offset[0]
y += self.output_offset[1]
z += self.output_offset[2]
a += self.output_offset[3]
b += self.output_offset[4]
if self.v_previous_contact_point:
cut_distance = (v_contact - self.v_previous_contact_point).Magnitude()
f = self.feedrate / cut_distance
self.gcode += "G01 X{:.6f} Y{:.6f} Z{:.6f} A{:.6f} B{:.6f} F{:.6f}\n".format(x,y,z,a,b,f)
else:
f = 0
self.gcode += "G0 X{:.6f} Y{:.6f} Z{:.6f} A{:.6f} B{:.6f}\n".format(x,y,z,a,b)
self.v_previous_contact_point = v_contact
print(x,y,z,a,b)
if u_now == u_max:
break
u_next = u_now + u_step
if u_next > u_max:
u_next = u_max
u_now = u_next
def rot_axs(axis=gp_Ax3(), pxyz=[0, 0, 0], rxyz=[0, 0, 0]):
axs = gp_Ax3(gp_Pnt(*pxyz), gp_Dir(0, 0, 1))
ax1 = gp_Ax1(axis.Location(), axis.XDirection())
ax2 = gp_Ax1(axis.Location(), axis.YDirection())
ax3 = gp_Ax1(axis.Location(), axis.Direction())
axs.Rotate(ax1, np.deg2rad(rxyz[0]))
axs.Rotate(ax2, np.deg2rad(rxyz[1]))
axs.Rotate(ax3, np.deg2rad(rxyz[2]))
trsf = set_trf(gp_Ax3(), axs)
axis.Transform(trsf)
def rotate_xyz(axs=gp_Ax3(), deg=0.0, xyz="x"):
if xyz == "x":
ax1 = gp_Ax1(axs.Location(), axs.XDirection())
elif xyz == "y":
ax1 = gp_Ax1(axs.Location(), axs.YDirection())
elif xyz == "z":
ax1 = gp_Ax1(axs.Location(), axs.Direction())
else:
ax1 = gp_Ax1(axs.Location(), axs.Direction())
axs.Rotate(ax1, np.deg2rad(deg))
def RotateAxis_Ax(self, ax=gp_Ax3(), deg=0.0, axs="z"):
if axs == "x":
ax1 = gp_Ax1(ax.Location(), ax.XDirection())
elif axs == "y":
ax1 = gp_Ax1(ax.Location(), ax.YDirection())
elif axs == "z":
ax1 = gp_Ax1(ax.Location(), ax.Direction())
else:
ax1 = gp_Ax1(ax.Location(), ax.Direction())
rot = ax.Rotated(ax1, np.deg2rad(deg))
trf = gp_Trsf()
trf.SetDisplacement(ax, rot)
ax.Transform(trf)
def RotateAxis(self, deg=0.0, axs="z"):
if axs == "x":
ax1 = gp_Ax1(self.rot.Location(), self.rot.XDirection())
elif axs == "y":
ax1 = gp_Ax1(self.rot.Location(), self.rot.YDirection())
elif axs == "z":
ax1 = gp_Ax1(self.rot.Location(), self.rot.Direction())
else:
ax1 = gp_Ax1(self.rot.Location(), self.rot.Direction())
rot = self.rot.Rotated(ax1, np.deg2rad(deg))
trf = gp_Trsf()
trf.SetDisplacement(self.rot, rot)
self.axs.Transform(trf)
def RotateSurf(self, deg=0.0, axs="z"):
if axs == "x":
ax1 = gp_Ax1(self.rot.Location(), self.rot.XDirection())
elif axs == "y":
ax1 = gp_Ax1(self.rot.Location(), self.rot.YDirection())
elif axs == "z":
ax1 = gp_Ax1(self.rot.Location(), self.rot.Direction())
else:
ax1 = gp_Ax1(self.rot.Location(), self.rot.Direction())
trf = gp_Trsf()
trf.SetRotation(ax1, np.deg2rad(deg))
self.rot.Transform(trf)
self.axs.Transform(trf)
self.surf.Move(TopLoc_Location(trf))
def face_rotate(self, face=TopoDS_Face(), axs=gp_Ax1()):
plan = self.pln_on_face(face)
plan_axs = plan.Position()
pln_angle = self.tmp_axis.Angle(plan_axs)
ref_angle = self.tmp_axis.Direction().AngleWithRef(
plan_axs.Direction(), axs.Direction())
print(np.rad2deg(pln_angle), np.rad2deg(ref_angle))
trf = gp_Trsf()
if np.abs(ref_angle) >= np.pi / 2:
trf.SetRotation(axs, -ref_angle)
elif 0 < ref_angle < np.pi / 2:
trf.SetRotation(axs, np.pi - ref_angle)
elif -np.pi / 2 < ref_angle < 0:
trf.SetRotation(axs, -ref_angle - np.pi)
else:
trf.SetRotation(axs, -ref_angle)
#trf.SetTransformation(axs3.Rotated(axs, angle), axs3)
loc_face = TopLoc_Location(trf)
new_face = face.Located(loc_face)
# self.sol_builder.Add(new_face)
self.face_lst.Append(new_face)
# face.Location(loc_face)
if self.show == True:
self.display.DisplayShape(new_face)
return new_face
def face_tranfer(self, face=TopoDS_Face(), axs=gp_Ax1()):
axs_3 = gp_Ax3(axs.Location(), axs.Direction())
trf = gp_Trsf()
trf.SetTransformation(axs_3, self.tmp_axs3)
loc_face = TopLoc_Location(trf)
face.Location(loc_face)
return face
def RotAxs(self, deg, axs="y"):
if axs == None:
rot_axs = gp_Ax1(self.axs.Location(), self.axs.XDirection())
elif axs == "x":
rot_axs = gp_Ax1(self.axs.Location(), self.axs.XDirection())
elif axs == "y":
rot_axs = gp_Ax1(self.axs.Location(), self.axs.YDirection())
else:
rot_axs = gp_Ax1(self.axs.Location(), self.axs.YDirection())
self.Move_Beam(gp_Ax3(), gp_Ax3().Rotated(rot_axs, np.deg2rad(deg)))
self.axs.Rotate(rot_axs, np.deg2rad(deg))
self.srf = set_surface(self.dir + self.name + ".stp")
self.trf = gp_Trsf()
self.trf.SetTransformation(self.axs, gp_Ax3())
self.loc_face = TopLoc_Location(self.trf)
self.srf.Location(self.loc_face)
def revolve():
"""Revolve profile on active WP to create a new part."""
wp = win.activeWp
if win.lineEditStack and len(win.ptStack) == 2:
p2 = win.ptStack.pop()
p1 = win.ptStack.pop()
name = win.lineEditStack.pop()
win.clearAllStacks()
wireOK = wp.makeWire()
if not wireOK:
print("Unable to make wire.")
return
face = BRepBuilderAPI_MakeFace(wp.wire).Shape()
revolve_axis = gp_Ax1(p1, gp_Dir(gp_Vec(p1, p2)))
myBody = BRepPrimAPI_MakeRevol(face, revolve_axis).Shape()
uid = doc.addComponent(myBody, name, DEFAULT_COLOR)
win.build_tree()
win.setActivePart(uid)
win.draw_shape(uid)
win.syncUncheckedToHideList()
win.statusBar().showMessage("New part created.")
win.clearCallback()
else:
win.registerCallback(revolveC)
display.SetSelectionModeVertex()
win.lineEdit.setFocus()
statusText = "Pick two points on revolve axis."
win.statusBar().showMessage(statusText)
def make_revolved_cylinder(pnt, height, revolve_angle, rotation, wall_thick):
"""
This method demonstrates how to create a revolved shape from a drawn closed edge.
It currently creates a hollow cylinder
adapted from algotopia.com's opencascade_basic tutorial:
http://www.algotopia.com/contents/opencascade/opencascade_basic
:param pnt:
:param height:
:param revolve_angle:
:param rotation:
:param wall_thick:
:type pnt: dict
:type height: float
:type revolve_angle: float
:type rotation: float
:type wall_thick: float
"""
from OCC.Core.BRepBuilderAPI import (
BRepBuilderAPI_MakeEdge,
BRepBuilderAPI_MakeFace,
BRepBuilderAPI_MakeWire,
)
from OCC.Core.BRepPrimAPI import BRepPrimAPI_MakeRevol
from OCC.Core.gp import gp_Ax1, gp_Dir, gp_Pnt
face_inner_radius = pnt["X"] + (17.0 - wall_thick / 2) * 1000
face_outer_radius = pnt["X"] + (17.0 + wall_thick / 2) * 1000
# point to create an edge from
edg_points = [
gp_Pnt(face_inner_radius, pnt["Y"], pnt["Z"]),
gp_Pnt(face_inner_radius, pnt["Y"], pnt["Z"] + height),
gp_Pnt(face_outer_radius, pnt["Y"], pnt["Z"] + height),
gp_Pnt(face_outer_radius, pnt["Y"], pnt["Z"]),
gp_Pnt(face_inner_radius, pnt["Y"], pnt["Z"]),
]
# aggregate edges in wire
hexwire = BRepBuilderAPI_MakeWire()
for i in range(len(edg_points) - 1):
hexedge = BRepBuilderAPI_MakeEdge(edg_points[i],
edg_points[i + 1]).Edge()
hexwire.Add(hexedge)
hexwire_wire = hexwire.Wire()
# face from wire
hexface = BRepBuilderAPI_MakeFace(hexwire_wire).Face()
revolve_axis = gp_Ax1(gp_Pnt(pnt["X"], pnt["Y"], pnt["Z"]),
gp_Dir(0, 0, 1))
# create revolved shape
revolved_shape_ = BRepPrimAPI_MakeRevol(hexface, revolve_axis,
np.radians(
float(revolve_angle))).Shape()
revolved_shape_ = rotate_shp_3_axis(revolved_shape_, revolve_axis,
rotation)
return revolved_shape_
def rotateAP():
ax1 = gp_Ax1(gp_Pnt(0., 0., 0.), gp_Dir(1., 0., 0.))
aRotTrsf = gp_Trsf()
angle = math.pi / 18 # 10 degrees
aRotTrsf.SetRotation(ax1, angle)
aTopLoc = TopLoc_Location(aRotTrsf)
win.activePart.Move(aTopLoc)
win.redraw()
def make_revolve_solid(face: TopoDS_Face, axis, angle, origin) -> TopoDS_Shape:
from OCC.Core.BRepPrimAPI import BRepPrimAPI_MakeRevol
revolve_axis = gp_Ax1(gp_Pnt(origin[0], origin[1], origin[2]),
gp_Dir(axis[0], axis[1], axis[2]))
revolved_shape = BRepPrimAPI_MakeRevol(face, revolve_axis,
np.deg2rad(angle)).Shape()
return revolved_shape
def __GetTransform(self, X: float, Y: float, Z: float, RX: float,
RY: float, RZ: float) -> gp_Trsf:
trsf_T = gp_Trsf()
trsf_RX = gp_Trsf()
trsf_RY = gp_Trsf()
trsf_RZ = gp_Trsf()
center = gp_Pnt(X, Y, Z)
ax1_X = gp_Ax1(center, gp_Dir(1., 0., 0.))
ax1_Y = gp_Ax1(center, gp_Dir(0., 1., 0.))
ax1_Z = gp_Ax1(center, gp_Dir(0., 0., 1.))
trsf_T.SetTranslation(gp_Vec(X, Y, Z))
trsf_RX.SetRotation(ax1_X, RX * math.pi / 180)
trsf_RY.SetRotation(ax1_Y, RY * math.pi / 180)
trsf_RZ.SetRotation(ax1_Z, RZ * math.pi / 180)
return trsf_RZ * trsf_RY * trsf_RX * trsf_T
def setRotate(self, pntAxFrom, pntAxTo, angle):
trsf = gp_Trsf()
ax1 = gp_Ax1(pntAxFrom, gp_Dir(gp_Vec(pntAxFrom, pntAxTo)))
trsf.SetRotation(ax1, angle)
self.aTrsf *= trsf
return self
def rotate(axis, angle=None):
if angle is None:
angle = np.linalg.norm(axis)
axis = axis / angle
trsf = gp_Trsf()
trsf.SetRotation(gp_Ax1(gp_Pnt(0, 0, 0), gp_Dir(
gp_Vec(axis[0], axis[1], axis[2]))), angle)
return Transformation(trsf)
def rotating_cube_2_axis(event=None):
display.EraseAll()
ais_boxshp = build_shape()
ax1 = gp_Ax1(gp_Pnt(0., 0., 0.), gp_Dir(0., 0., 1.))
ax2 = gp_Ax1(gp_Pnt(0., 0., 0.), gp_Dir(0., 1., 0.))
a_cube_trsf = gp_Trsf()
a_cube_trsf2 = gp_Trsf()
angle = 0.0
tA = time.time()
n_rotations = 200
for i in range(n_rotations):
a_cube_trsf.SetRotation(ax1, angle)
a_cube_trsf2.SetRotation(ax2, angle)
aCubeToploc = TopLoc_Location(a_cube_trsf * a_cube_trsf2)
display.Context.SetLocation(ais_boxshp, aCubeToploc)
display.Context.UpdateCurrentViewer()
angle += 2*pi / n_rotations
print("%i rotations took %f" % (n_rotations, time.time() - tA))
def _revol(shp, r=None, yaw=0.0):
if r is not None:
shp = shp.rotX(deg(90)).movX(r)
ax = gp_Ax1(gp_Pnt(0, 0, 0), gp_Dir(0, 0, 1))
if yaw == 0:
return Shape(BRepPrimAPI_MakeRevol(shp.Shape(), ax).Shape())
else:
return Shape(BRepPrimAPI_MakeRevol(shp.Shape(), ax, yaw).Shape())
def add_feature(base):
"""Add a "feature" to a shape. In this case we drill a hole through it."""
feature_diameter = 0.8
feature_origin = gp_Ax1(gp_Pnt(0, 0, 0), gp_Dir(0, 0, 1))
feature_maker = BRepFeat_MakeCylindricalHole()
feature_maker.Init(base, feature_origin)
feature_maker.Build()
feature_maker.Perform(feature_diameter / 2.0)
shape = feature_maker.Shape()
return shape
def rotateAP():
"""Experimental... useful methods to come"""
ax1 = gp_Ax1(gp_Pnt(0.0, 0.0, 0.0), gp_Dir(1.0, 0.0, 0.0))
aRotTrsf = gp_Trsf()
angle = math.pi / 18 # 10 degrees
aRotTrsf.SetRotation(ax1, angle)
aTopLoc = TopLoc_Location(aRotTrsf)
uid = win.activePartUID
win.erase_shape(uid)
win.activePart.Move(aTopLoc)
win.draw_shape(uid)
def mirror_pnt_dir(brep, pnt, direction, copy=False):
'''
@param brep:
@param line:
'''
trns = gp_Trsf()
trns.SetMirror(gp_Ax1(pnt, direction))
brep_trns = BRepBuilderAPI_Transform(brep, trns, copy)
with assert_isdone(brep_trns, 'could not produce mirror'):
brep_trns.Build()
return brep_trns.Shape()
def rotate_shp(ais_shp):
ax1 = gp_Ax1(gp_Pnt(0., 0., 0.), gp_Dir(0., 0., 1.))
aCubeTrsf = gp_Trsf()
angle = 0.0
#tA = time.time()
n_rotations = 200
for i in range(n_rotations):
aCubeTrsf.SetRotation(ax1, angle)
aCubeToploc = TopLoc_Location(aCubeTrsf)
display.Context.SetLocation(ais_shp, aCubeToploc)
display.Context.UpdateCurrentViewer()
angle += 2*pi / n_rotations
def generate_TCP():
global tool_tcp_pnts, tool_tcp_vxs, tool_tcp_vys, tool_tcp_vzs
tool_tcp_pnts = []
tool_tcp_vxs = []
tool_tcp_vys = []
tool_tcp_vzs = []
numperface = 1
num1 = round(abs(math.sqrt(numperface)))
num2 = round(abs(math.sqrt(numperface)))
numofrots = 8
for sur in surf:
umin, umax, vmin, vmax = shapeanalysis_GetFaceUVBounds(sur)
bsur = BRepAdaptor_Surface(sur, True)
for i in range(0, num1 + 1):
for j in range(0, num2 + 1):
u = umin + i * (umax - umin) / num1
v = vmin + j * (vmax - vmin) / num2
point, Vx, Vy, Vz = get_point(bsur, u, v)
flag = 0
for apoint in tool_tcp_pnts:
if abs(point.Distance(apoint)) < 0.1:
flag = 1
break
if flag == 0:
for k in range(0, numofrots):
ang = 2 * math.pi / numofrots
tool_tcp_pnts.append(point)
Vx = Vx.Rotated(gp_Ax1(point, gp_Dir(Vz)), ang)
tool_tcp_vxs.append(Vx)
Vy = Vy.Rotated(gp_Ax1(point, gp_Dir(Vz)), ang)
tool_tcp_vys.append(Vy)
tool_tcp_vzs.append(Vz)
display_coord(tool_tcp_pnts, tool_tcp_vxs, tool_tcp_vys, tool_tcp_vzs)
display.DisplayMessage(gp_Pnt(100, 100, 100),
'TCP #:' + str(len(tool_tcp_pnts)),
height=None,
message_color=(1, 1, 1),
update=True)
def mirrorInPlane(self, listOfShapes, axis="X"):
local_coord_system = gp_Ax3(self.origin.toPnt(), self.zDir.toDir(),
self.xDir.toDir())
T = gp_Trsf()
if axis == "X":
T.SetMirror(
gp_Ax1(self.origin.toPnt(), local_coord_system.XDirection()))
elif axis == "Y":
T.SetMirror(
gp_Ax1(self.origin.toPnt(), local_coord_system.YDirection()))
else:
raise NotImplementedError
resultWires = []
for w in listOfShapes:
mirrored = w.transformShape(Matrix(T))
# attemp stitching of the wires
resultWires.append(mirrored)
return resultWires
def occ_to_grasp_cor_ref(axs=gp_Ax1(), ref=gp_Ax3(), name="name", filename="pln.cor"):
trf = gp_Trsf()
trf.SetTransformation(ref, gp_Ax3())
axis = axs.Transformed(trf)
pnt = axis.Location()
v_x = axis.XDirection()
v_y = axis.YDirection()
fp = open(filename, "w")
fp.write(' {:s}\n'.format(name))
fp.write(' {:s}\n'.format("mm"))
fp.write(''.join([float_to_string(v) for v in pnt_to_xyz(pnt)]) + '\n')
fp.write(''.join([float_to_string(v) for v in pnt_to_xyz(v_x)]) + '\n')
fp.write(''.join([float_to_string(v) for v in pnt_to_xyz(v_y)]) + '\n')
fp.close()
def edge(event=None):
# The blud edge
BlueEdge = BRepBuilderAPI_MakeEdge(gp_Pnt(-80, -50, -20),
gp_Pnt(-30, -60, -60))
V1 = BRepBuilderAPI_MakeVertex(gp_Pnt(-20, 10, -30))
V2 = BRepBuilderAPI_MakeVertex(gp_Pnt(10, 7, -25))
YellowEdge = BRepBuilderAPI_MakeEdge(V1.Vertex(), V2.Vertex())
#The white edge
line = gp_Lin(gp_Ax1(gp_Pnt(10, 10, 10), gp_Dir(1, 0, 0)))
WhiteEdge = BRepBuilderAPI_MakeEdge(line, -20, 10)
#The red edge
Elips = gp_Elips(gp_Ax2(gp_Pnt(10, 0, 0), gp_Dir(1, 1, 1)), 60, 30)
RedEdge = BRepBuilderAPI_MakeEdge(Elips, 0, math.pi/2)
# The green edge and the both extreme vertex
P1 = gp_Pnt(-15, 200, 10)
P2 = gp_Pnt(5, 204, 0)
P3 = gp_Pnt(15, 200, 0)
P4 = gp_Pnt(-15, 20, 15)
P5 = gp_Pnt(-5, 20, 0)
P6 = gp_Pnt(15, 20, 0)
P7 = gp_Pnt(24, 120, 0)
P8 = gp_Pnt(-24, 120, 12.5)
array = TColgp_Array1OfPnt(1, 8)
array.SetValue(1, P1)
array.SetValue(2, P2)
array.SetValue(3, P3)
array.SetValue(4, P4)
array.SetValue(5, P5)
array.SetValue(6, P6)
array.SetValue(7, P7)
array.SetValue(8, P8)
curve = Geom_BezierCurve(array)
ME = BRepBuilderAPI_MakeEdge(curve)
GreenEdge = ME
V3 = ME.Vertex1()
V4 = ME.Vertex2()
display.DisplayColoredShape(BlueEdge.Edge(), 'BLUE')
display.DisplayShape(V1.Vertex())
display.DisplayShape(V2.Vertex())
display.DisplayColoredShape(WhiteEdge.Edge(), 'WHITE')
display.DisplayColoredShape(YellowEdge.Edge(), 'YELLOW')
display.DisplayColoredShape(RedEdge.Edge(), 'RED')
display.DisplayColoredShape(GreenEdge.Edge(), 'GREEN')
display.DisplayShape(V3)
display.DisplayShape(V4, update=True)
def __init__(self, sectorParms) :
from math import pi
from OCC.Core.gp import gp_Ax1, gp_Pnt, gp_Dir
self.TwoPi = 2*(pi)
self.Pi = pi
if sectorParms != None :
self.Start = sectorParms[0]
self.Delta = sectorParms[1]
self.Aunit = sectorParms[2]
else :
self.Start = 0
self.Delta = self.TwoPi
self.Aunit = 'rad'
self.RevAxis = gp_Ax1(gp_Pnt(0,0,0), gp_Dir(0,0,1))
def rotated(self, rotate=(0, 0, 0)):
"""Returns a copy of this plane, rotated about the specified axes
Since the z axis is always normal the plane, rotating around Z will
always produce a plane that is parallel to this one.
The origin of the workplane is unaffected by the rotation.
Rotations are done in order x, y, z. If you need a different order,
manually chain together multiple rotate() commands.
:param rotate: Vector [xDegrees, yDegrees, zDegrees]
:return: a copy of this plane rotated as requested.
"""
# NB: this is not a geometric Vector
rotate = Vector(rotate)
# Convert to radians.
rotate = rotate.multiply(math.pi / 180.0)
# Compute rotation matrix.
T1 = gp_Trsf()
T1.SetRotation(
gp_Ax1(gp_Pnt(*(0, 0, 0)), gp_Dir(*self.xDir.toTuple())), rotate.x)
T2 = gp_Trsf()
T2.SetRotation(
gp_Ax1(gp_Pnt(*(0, 0, 0)), gp_Dir(*self.yDir.toTuple())), rotate.y)
T3 = gp_Trsf()
T3.SetRotation(
gp_Ax1(gp_Pnt(*(0, 0, 0)), gp_Dir(*self.zDir.toTuple())), rotate.z)
T = Matrix(gp_GTrsf(T1 * T2 * T3))
# Compute the new plane.
newXdir = self.xDir.transform(T)
newZdir = self.zDir.transform(T)
return Plane(self.origin, newXdir, newZdir)
