示例#1
0
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)
示例#2
0
文件: twists.py 项目: joschu/surgical
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)
示例#3
0
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)
示例#4
0
文件: twists.py 项目: joschu/surgical
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)