def __init__(self, translation, orientation=None, eulerRotation=None):
self.translation = translation
if eulerRotation != None:
self.orientation = from_euler(to_radians(eulerRotation))
elif orientation != None:
self.orientation = orientation
else:
self.orientation = [0, 0, 0, 1]
def TRS_to_matrix(translation, rotation=None, scale=None, eulerRotation=None):
t = numpy.identity(4)
s = numpy.identity(4)
if eulerRotation != None:
rotation = from_euler(to_radians(eulerRotation))
if scale == None:
scale = [1.0, 1.0, 1.0]
r = to_matrix(rotation)
rr = numpy.identity(4)
rr[0:3, 0:3] = r
t[0, 3] = translation[0]
t[1, 3] = translation[1]
t[2, 3] = translation[2]
s[0, 0] = scale[0]
s[1, 1] = scale[1]
s[2, 2] = scale[2]
return numpy.matmul(numpy.matmul(t, rr), s)