def twist_around_axis(thread, angle1, angle2, axis):
xyz = thread.getXYZ()
cons = thread.getConstraints()
mat1 = euler2mat(*cons[3:6])
mat2 = euler2mat(*cons[9:12])
tmat1 = euler2mat(*angle_axis2euler(angle1, axis))
tmat2 = euler2mat(*angle_axis2euler(angle2, axis))
newmat1 = dot(tmat1, mat1)
newmat2 = dot(tmat2, mat2)
neweul1 = mat2euler(newmat1)
neweul2 = mat2euler(newmat2)
cons[3:6] = neweul1
cons[9:12] = neweul2
thread.setConstraints(cons)
def twist_around_axis(thread,angle1,angle2,axis):
xyz = thread.getXYZ()
cons = thread.getConstraints()
mat1 = euler2mat(*cons[3:6])
mat2 = euler2mat(*cons[9:12])
tmat1 = euler2mat(*angle_axis2euler(angle1,axis))
tmat2 = euler2mat(*angle_axis2euler(angle2,axis))
newmat1 = dot(tmat1,mat1)
newmat2 = dot(tmat2,mat2)
neweul1 = mat2euler(newmat1)
neweul2 = mat2euler(newmat2)
cons[3:6] = neweul1
cons[9:12] = neweul2
thread.setConstraints(cons)
def twist_ctrl(thread, angle1, angle2):
xyz = thread.getXYZ()
axis1 = xyz[:, 1] - xyz[:, 0]
axis2 = xyz[:, -1] - xyz[:, -2]
cons = thread.getConstraints()
mat1 = euler2mat(*cons[3:6])
mat2 = euler2mat(*cons[9:12])
tmat1 = euler2mat(*angle_axis2euler(angle1, axis1))
tmat2 = euler2mat(*angle_axis2euler(angle2, axis2))
newmat1 = dot(tmat1, mat1)
newmat2 = dot(tmat2, mat2)
neweul1 = mat2euler(newmat1)
neweul2 = mat2euler(newmat2)
#print "orig",cons[blah]
cons[3:6] = neweul1
cons[9:12] = neweul2
thread.setConstraints(cons)
def twist_ctrl(thread,angle1,angle2):
xyz = thread.getXYZ()
axis1 = xyz[:,1] - xyz[:,0]
axis2 = xyz[:,-1] - xyz[:,-2]
cons = thread.getConstraints()
mat1 = euler2mat(*cons[3:6])
mat2 = euler2mat(*cons[9:12])
tmat1 = euler2mat(*angle_axis2euler(angle1,axis1))
tmat2 = euler2mat(*angle_axis2euler(angle2,axis2))
newmat1 = dot(tmat1,mat1)
newmat2 = dot(tmat2,mat2)
neweul1 = mat2euler(newmat1)
neweul2 = mat2euler(newmat2)
#print "orig",cons[blah]
cons[3:6] = neweul1
cons[9:12] = neweul2
thread.setConstraints(cons)
