def add_object_align_init(context, operator):
"""
Return a matrix using the operator settings and view context.
:arg context: The context to use.
:type context: :class:`bpy.types.Context`
:arg operator: The operator, checked for location and rotation properties.
:type operator: :class:`bpy.types.Operator`
:return: the matrix from the context and settings.
:rtype: :class:`mathutils.Matrix`
"""
from mathutils import Matrix, Vector, Euler
properties = operator.properties if operator is not None else None
space_data = context.space_data
if space_data and space_data.type != 'VIEW_3D':
space_data = None
# location
if operator and properties.is_property_set("location"):
location = Matrix.Translation(Vector(properties.location))
else:
location = Matrix.Translation(context.scene.cursor_location)
if operator:
properties.location = location.to_translation()
# rotation
view_align = (context.preferences.edit.object_align == 'VIEW')
view_align_force = False
if operator:
if properties.is_property_set("view_align"):
view_align = view_align_force = operator.view_align
else:
if properties.is_property_set("rotation"):
# ugh, 'view_align' callback resets
value = properties.rotation[:]
properties.view_align = view_align
properties.rotation = value
del value
else:
properties.view_align = view_align
if operator and (properties.is_property_set("rotation") and
not view_align_force):
rotation = Euler(properties.rotation).to_matrix().to_4x4()
else:
if view_align and space_data:
rotation = space_data.region_3d.view_matrix.to_3x3().inverted()
rotation.resize_4x4()
else:
rotation = Matrix()
# set the operator properties
if operator:
properties.rotation = rotation.to_euler()
return location @ rotation
def add_object_align_init(context, operator):
"""
Return a matrix using the operator settings and view context.
:arg context: The context to use.
:type context: :class:`bpy.types.Context`
:arg operator: The operator, checked for location and rotation properties.
:type operator: :class:`bpy.types.Operator`
:return: the matrix from the context and settings.
:rtype: :class:`mathutils.Matrix`
"""
from mathutils import Matrix, Vector, Euler
properties = operator.properties if operator is not None else None
space_data = context.space_data
if space_data and space_data.type != 'VIEW_3D':
space_data = None
# location
if operator and properties.is_property_set("location"):
location = Matrix.Translation(Vector(properties.location))
else:
location = Matrix.Translation(context.scene.cursor.location)
if operator:
properties.location = location.to_translation()
# rotation
view_align = (context.preferences.edit.object_align == 'VIEW')
view_align_force = False
if operator:
if properties.is_property_set("view_align"):
view_align = view_align_force = operator.view_align
else:
if properties.is_property_set("rotation"):
# ugh, 'view_align' callback resets
value = properties.rotation[:]
properties.view_align = view_align
properties.rotation = value
del value
else:
properties.view_align = view_align
if operator and (properties.is_property_set("rotation") and
not view_align_force):
rotation = Euler(properties.rotation).to_matrix().to_4x4()
else:
if view_align and space_data:
rotation = space_data.region_3d.view_matrix.to_3x3().inverted()
rotation.resize_4x4()
else:
rotation = Matrix()
# set the operator properties
if operator:
properties.rotation = rotation.to_euler()
return location @ rotation
def getTransformFromParent(self):
rot = Euler((radians(self.alpha.value), radians(self.beta.value),
radians(self.gamma.value)), 'XYZ').to_matrix()
rot.resize_4x4()
transl = Matrix.Translation((self.x.value, self.y.value, self.z.value))
# print("here",transl * rot)
return transl * rot
def getTransformFromParent(self):
alphaMatrix = Euler((radians(self.alpha.value), 0, 0),
'XYZ').to_matrix()
alphaMatrix.resize_4x4()
thetaMatrix = Euler((0, 0, radians(self.theta.value)),
'XYZ').to_matrix()
thetaMatrix.resize_4x4()
translation = Matrix.Translation((self.a.value, 0, self.d.value, 1))
return translation * alphaMatrix * thetaMatrix
def getTransformFromParent(self):
rot = Euler(
(
radians(self.alpha.value),
radians(self.beta.value),
radians(self.gamma.value),
),
"XYZ",
).to_matrix()
rot.resize_4x4()
transl = Matrix.Translation((self.x.value, self.y.value, self.z.value))
return transl @ rot
def getTransform(self):
"""
returned transform matrix is of the form translation*parentMatrix*rotation
parent is dependent of parent mode, that is either Euler or DH
either translation or rotation is I_4 dependent of the joint type,
whereas a revolute joints contributes a rotation only and a
prismatic joint contributes a translation only
"""
translation = Matrix() # initialize as I_4 matrix
rotation = Matrix() # initialize as I_4 matrix
axis_matrix = (
Matrix()
) # contains axis information which should be applied to parentMatrix
if self.axis_revert:
inverted = -1
else:
inverted = 1
if self.parentMode == "EULER":
parentMatrix = self.Euler.getTransformFromParent()
else: # self.parentMode == 'DH'
parentMatrix = self.DH.getTransformFromParent()
if self.jointMode == "REVOLUTE":
if self.axis == "X":
rotation = Euler(
(radians(self.theta.value + self.theta.offset), 0, 0),
"XYZ").to_matrix()
rotation.resize_4x4()
axis_matrix = Euler((radians(180 * (1 - inverted) / 2), 0, 0),
"XYZ").to_matrix()
axis_matrix.resize_4x4()
elif self.axis == "Y":
rotation = Euler(
(0, radians(self.theta.value + self.theta.offset), 0),
"XYZ").to_matrix()
rotation.resize_4x4()
axis_matrix = Euler((0, radians(180 * (1 - inverted) / 2), 0),
"XYZ").to_matrix()
axis_matrix.resize_4x4()
elif self.axis == "Z":
rotation = Euler(
(0, 0, radians(self.theta.value + self.theta.offset)),
"XYZ").to_matrix()
rotation.resize_4x4()
axis_matrix = Euler((0, 0, radians(180 * (1 - inverted) / 2)),
"XYZ").to_matrix()
axis_matrix.resize_4x4()
if self.jointMode == "PRISMATIC":
if self.axis == "X":
translation = Matrix.Translation(
(inverted * (self.d.value + self.d.offset), 0, 0, 1))
elif self.axis == "Y":
translation = Matrix.Translation(
(0, inverted * (self.d.value + self.d.offset), 0, 1))
elif self.axis == "Z":
translation = Matrix.Translation(
(0, 0, inverted * (self.d.value + self.d.offset), 1))
if (self.jointMode == "FIXED" or self.jointMode == "REVOLUTE2"
or self.jointMode == "UNIVERSAL" or self.jointMode == "BALL"
): # todo: check if this is right for fixed joint type
translation = Matrix.Translation((0, 0, 0, 1))
return parentMatrix @ axis_matrix, translation @ rotation
