def rot(rad = math.pi/2, unitv = vector3d.Vector3D(0,0,1)):
unitv.normalizethis()
crosspmat = multidim.Matrix(3,3,[unitv.x*unitv.x,unitv.x*unitv.y,unitv.x*unitv.z,
unitv.x*unitv.y,unitv.y*unitv.y,unitv.y*unitv.z,
unitv.x*unitv.z,unitv.y*unitv.z,unitv.z*unitv.z])
tensorprod = multidim.Matrix(3,3,[0,-unitv.z,unitv.y,
unitv.z,0,-unitv.x,
-unitv.y,unitv.x,0])
sr = math.sin(rad)
cr = math.cos(rad)
return Rotation3D(cr*multidim.identity(3) + sr*tensorprod + (1-cr)*crosspmat)
def getangax2(self):
#Axis:
#Get the eigenvector for the eigenvalue == 1:
nullspace, matrref, minv, ones, zeros = multidim.nullspace(self.matrix - multidim.identity(3), tolerance=0.00000000001)
axis = matrix2vector3D(nullspace)
axis.normalizethis()
if (axis - vector3d.xbasev()).norm() > 0.1:
v = vector3d.xbasev()
elif (axis - vector3d.ybasev()).norm() > 0.1:
v = vector3d.ybasev()
elif (axis - vector3d.zbasev()).norm() > 0.1:
v = vector3d.zbasev()
else:
raise RuntimeError('Rotation3D.getangax: Bad internal matrix!!')
v = vector3d.orthonormal(axis,v) # Make v orthonormal against axis
vrot = self.rotvec(v)
angle = vector3d.anglebetween(v, vrot)
axis1 = vector3d.crossproduct(v, vrot)
if vector3d.dotproduct(axis, axis1) < 0:
axis = -axis
return angle, axis
def __init__(self, m = multidim.identity(3)):
# NOTE: Do not remove "copy" - default arguments are only defined upon function definiton!!:
self.matrix = m.copy()