def test_create_direction_scale(self):
m = matrix33.create_direction_scale([0., 1., 0.], 0.5)
v = np.array([[1., 0., 0.], [1., 1., 1.], [10., 10., 10.]])
result = np.array([
matrix33.apply_to_vector(m, v[0]),
matrix33.apply_to_vector(m, v[1]),
matrix33.apply_to_vector(m, v[2]),
])
expected = np.array([[1., 0., 0.], [1., .5, 1.], [10., 5., 10.]])
self.assertTrue(np.allclose(result, expected))
def test_create_direction_scale(self):
m = matrix33.create_direction_scale([0.,1.,0.], 0.5)
v = np.array([
[1.,0.,0.],
[1.,1.,1.],
[10.,10.,10.]
])
result = np.array([
matrix33.apply_to_vector(m, v[0]),
matrix33.apply_to_vector(m, v[1]),
matrix33.apply_to_vector(m, v[2]),
])
expected = np.array([
[1.,0.,0.],
[1.,.5,1.],
[10.,5.,10.]
])
self.assertTrue(np.allclose(result, expected))
def translate_backward(self, amount):
"""Translates the object backward along the inertial X,Z
plane.
"""
quat = quaternion.set_to_rotation_about_y(self.yaw)
matrix = matrix33.create_from_quaternion(quat)
vec = matrix33.apply_to_vector([0.0, 0.0, 1.0], matrix)
vec *= amount
self.transform.inertial.translate(vec)
def identity():
mat = matrix33.create_identity()
vec = vector3.unit.x
result = matrix33.apply_to_vector( mat, vec )
expected = vec
self.assertTrue(
numpy.array_equal( result, expected ),
"Matrix33 apply_to_vector incorrect with identity"
)
def rotated_z():
mat = matrix33.create_from_z_rotation( math.pi )
vec = vector3.unit.x
result = matrix33.apply_to_vector( mat, vec )
expected = -vec
self.assertTrue(
numpy.allclose( result, expected ),
"Matrix33 apply_to_vector incorrect with rotation about Y"
)
def translate_forward( self, amount ):
"""Translates the object forward along the inertial X,Z
plane.
"""
quat = quaternion.set_to_rotation_about_y( self.yaw )
matrix = matrix33.create_from_quaternion( quat )
vec = matrix33.apply_to_vector(
[0.0, 0.0,-1.0],
matrix
)
vec *= amount
self.transform.inertial.translate( vec )
def y(self):
"""Returns the object's local Y axis.
This is the Y axis rotated by the objects orientation.
.. note::
This is NOT the world orientation.
To get inertial Y axis, simply use [0.0, 1.0, 0.0].
"""
# convert our quaternion to a matrix
matrix = matrix33.create_from_quaternion(self.transform.orientation)
# apply the matrix to a Y vector
return matrix33.apply_to_vector(matrix, vector3.unit.y)
def test_operators_vector3(self):
m = Matrix33.identity()
v = Vector3([1,1,1])
# add
self.assertRaises(ValueError, lambda: m + v)
# subtract
self.assertRaises(ValueError, lambda: m - v)
# multiply
self.assertTrue(np.array_equal(m * v, matrix33.apply_to_vector(matrix33.create_identity(), [1,1,1])))
# divide
self.assertRaises(ValueError, lambda: m / v)
def test_operators_vector3(self):
m = Matrix33.identity()
v = Vector3([1,1,1])
# add
self.assertRaises(ValueError, lambda: m + v)
# subtract
self.assertRaises(ValueError, lambda: m - v)
# multiply
self.assertTrue(np.array_equal(m * v, matrix33.apply_to_vector(matrix33.create_identity(), [1,1,1])))
# divide
self.assertRaises(ValueError, lambda: m / v)
def translate(self, vector):
"""Translates the transform locally.
The vector will have the node's current orientation
applied to it and then be added to the translation.
"""
if numpy.array_equal(vector, [0.0, 0.0, 0.0]):
# don't bother to update anything
return
# multiply the vector by our local orientation
# convert our quaternion to a matrix
matrix = matrix33.create_from_quaternion(self.transform._orientation)
# apply the matrix to the specified vector
self.transform.translation += matrix33.apply_to_vector(
matrix, numpy.array(vector))
def y( self ):
"""Returns the object's local Y axis.
This is the Y axis rotated by the objects orientation.
.. note::
This is NOT the world orientation.
To get inertial Y axis, simply use [0.0, 1.0, 0.0].
"""
# convert our quaternion to a matrix
matrix = matrix33.create_from_quaternion(
self.transform.orientation
)
# apply the matrix to a Y vector
return matrix33.apply_to_vector(
matrix,
vector3.unit.y
)
def _set_velocity_for_speed_and_direction(self, speed: float, direction: float):
# get the heading
dx = self.model.target_x - self.model.ball.x
dy = self.model.target_y - self.model.ball.y
# direction is meaningless if we're already at the target
if (dx != 0) or (dy != 0):
# set the magnitude
vel = vector.set_length([dx, dy, 0.0], speed)
# rotate by direction around Z-axis at ball position
rot = matrix33.create_from_axis_rotation([0.0, 0.0, 1.0], direction)
vel = matrix33.apply_to_vector(rot, vel)
# unpack into ball velocity
self.model.ball_vel.x = vel[0]
self.model.ball_vel.y = vel[1]
self.model.ball_vel.z = vel[2]
def translate( self, vector ):
"""Translates the transform locally.
The vector will have the node's current orientation
applied to it and then be added to the translation.
"""
if numpy.array_equal( vector, [ 0.0, 0.0, 0.0 ] ):
# don't bother to update anything
return
# multiply the vector by our local orientation
# convert our quaternion to a matrix
matrix = matrix33.create_from_quaternion(
self.transform._orientation
)
# apply the matrix to the specified vector
self.transform.translation += matrix33.apply_to_vector(
matrix,
numpy.array( vector )
)
def test_apply_to_vector_rotated_z(self):
mat = matrix33.create_from_z_rotation(np.pi)
vec = vector3.unit.x
result = matrix33.apply_to_vector(mat, vec)
expected = -vec
self.assertTrue(np.allclose(result, expected))
def test_apply_to_vector_rotated_z(self):
mat = matrix33.create_from_z_rotation(np.pi)
vec = vector3.unit.x
result = matrix33.apply_to_vector(mat, vec)
expected = -vec
self.assertTrue(np.allclose(result, expected))
def test_apply_to_vector_identity(self):
mat = matrix33.create_identity()
vec = vector3.unit.x
result = matrix33.apply_to_vector(mat, vec)
expected = vec
self.assertTrue(np.array_equal(result, expected))
def test_apply_to_vector_identity(self):
mat = matrix33.create_identity()
vec = vector3.unit.x
result = matrix33.apply_to_vector(mat, vec)
expected = vec
self.assertTrue(np.array_equal(result, expected))
