Uranium
Application Framework
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This class is a 4x4 homogeneous matrix wrapper around numpy. More...
Public Member Functions | |
None | __init__ (self, Optional[Union[List[List[float]], numpy.array]] data=None) |
def | __deepcopy__ (self, memo) |
"Matrix" | copy (self) |
bool | __eq__ (self, object other) |
float | at (self, int x, int y) |
None | setRow (self, int index, List[float] value) |
None | setColumn (self, int index, List[float] value) |
"Matrix" | multiply (self, Union[Vector, "Matrix"] other, bool copy=False) |
"Matrix" | preMultiply (self, Union[Vector, "Matrix"] other, bool copy=False) |
numpy.ndarray | getData (self) |
Get raw data. More... | |
None | setToIdentity (self) |
Create a 4x4 identity matrix. More... | |
None | invert (self) |
Invert the matrix. | |
"Matrix" | getInverse (self) |
Return a inverted copy of the matrix. More... | |
"Matrix" | getTransposed (self) |
Return the transpose of the matrix. | |
None | transpose (self) |
None | translate (self, Vector direction) |
Translate the matrix based on Vector. More... | |
None | setByTranslation (self, Vector direction) |
Set the matrix by translation vector. More... | |
None | setTranslation (self, Union[Vector, "Matrix"] translation) |
Vector | getTranslation (self) |
None | rotateByAxis (self, float angle, Vector direction, Optional[List[float]] point=None) |
Rotate the matrix based on rotation axis. More... | |
None | setByRotationAxis (self, float angle, Vector direction, Optional[List[float]] point=None) |
Set the matrix based on rotation axis. More... | |
None | compose (self, Vector scale=None, Vector shear=None, Vector angles=None, Vector translate=None, Vector perspective=None, Vector mirror=None) |
Return transformation matrix from sequence of transformations. More... | |
Vector | getEuler (self, str axes="sxyz") |
Return Euler angles from rotation matrix for specified axis sequence. More... | |
None | setByEuler (self, float ai, float aj, float ak, str axes="sxyz") |
Return homogeneous rotation matrix from Euler angles and axis sequence. More... | |
None | scaleByFactor (self, float factor, Optional[List[float]] origin=None, Optional[Vector] direction=None) |
Scale the matrix by factor wrt origin & direction. More... | |
None | setByScaleFactor (self, float factor, Optional[List[float]] origin=None, Optional[Vector] direction=None) |
Set the matrix by scale by factor wrt origin & direction. More... | |
None | setByScaleVector (self, Vector scale) |
Vector | getScale (self) |
None | setOrtho (self, float left, float right, float bottom, float top, float near, float far) |
Set the matrix to an orthographic projection. More... | |
None | setPerspective (self, float fovy, float aspect, float near, float far) |
Set the matrix to a perspective projection. More... | |
def | decompose (self) |
str | __repr__ (self) |
Static Public Member Functions | |
"Matrix" | fromPositionOrientationScale (Vector position, "Quaternion" orientation, Vector scale) |
This class is a 4x4 homogeneous matrix wrapper around numpy.
Heavily based (in most cases a straight copy with some refactoring) on the excellent 'library' Transformations.py created by Christoph Gohlke.
None UM.Math.Matrix.Matrix.compose | ( | self, | |
Vector | scale = None , |
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Vector | shear = None , |
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Vector | angles = None , |
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Vector | translate = None , |
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Vector | perspective = None , |
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Vector | mirror = None |
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Return transformation matrix from sequence of transformations.
This is the inverse of the decompose_matrix function.
scale | : vector of 3 scaling factors |
shear | : list of shear factors for x-y, x-z, y-z axes |
angles | : list of Euler angles about static x, y, z axes |
translate | : translation vector along x, y, z axes |
perspective | : perspective partition of matrix |
mirror | vector with mirror factors (1 if that axis is not mirrored, -1 if it is) |
def UM.Math.Matrix.Matrix.decompose | ( | self | ) |
SOURCE: https://github.com/matthew-brett/transforms3d/blob/e402e56686648d9a88aa048068333b41daa69d1a/transforms3d/affines.py Decompose 4x4 homogenous affine matrix into parts. The parts are translations, rotations, zooms, shears. This is the same as :func:`decompose` but specialized for 4x4 affines. Decomposes `A44` into ``T, R, Z, S``, such that:: Smat = np.array([[1, S[0], S[1]], [0, 1, S[2]], [0, 0, 1]]) RZS = np.dot(R, np.dot(np.diag(Z), Smat)) A44 = np.eye(4) A44[:3,:3] = RZS A44[:-1,-1] = T The order of transformations is therefore shears, followed by zooms, followed by rotations, followed by translations. This routine only works for shape (4,4) matrices Parameters ---------- A44 : array shape (4,4) Returns ------- T : array, shape (3,) Translation vector R : array shape (3,3) rotation matrix Z : array, shape (3,) Zoom vector. May have one negative zoom to prevent need for negative determinant R matrix above S : array, shape (3,) Shear vector, such that shears fill upper triangle above diagonal to form shear matrix (type ``striu``).
numpy.ndarray UM.Math.Matrix.Matrix.getData | ( | self | ) |
Get raw data.
Vector UM.Math.Matrix.Matrix.getEuler | ( | self, | |
str | axes = "sxyz" |
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Return Euler angles from rotation matrix for specified axis sequence.
axes : One of 24 axis sequences as string or encoded tuple Note that many Euler angle triplets can describe one matrix.
"Matrix" UM.Math.Matrix.Matrix.getInverse | ( | self | ) |
Return a inverted copy of the matrix.
None UM.Math.Matrix.Matrix.rotateByAxis | ( | self, | |
float | angle, | ||
Vector | direction, | ||
Optional[List[float]] | point = None |
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Rotate the matrix based on rotation axis.
angle | The angle by which matrix needs to be rotated. |
direction | Axis by which the matrix needs to be rotated about. |
point | Point where from where the rotation happens. If None, origin is used. |
None UM.Math.Matrix.Matrix.scaleByFactor | ( | self, | |
float | factor, | ||
Optional[List[float]] | origin = None , |
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Optional[Vector] | direction = None |
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Scale the matrix by factor wrt origin & direction.
factor | The factor by which to scale |
origin | From where does the scaling need to be done |
direction | In what direction is the scaling (if None, it's uniform) |
None UM.Math.Matrix.Matrix.setByEuler | ( | self, | |
float | ai, | ||
float | aj, | ||
float | ak, | ||
str | axes = "sxyz" |
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Return homogeneous rotation matrix from Euler angles and axis sequence.
ai | Eulers roll |
aj | Eulers pitch |
ak | Eulers yaw |
axes | One of 24 axis sequences as string or encoded tuple |
None UM.Math.Matrix.Matrix.setByRotationAxis | ( | self, | |
float | angle, | ||
Vector | direction, | ||
Optional[List[float]] | point = None |
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Set the matrix based on rotation axis.
This overwrites any existing data.
angle | The angle by which matrix needs to be rotated in radians. |
direction | Axis by which the matrix needs to be rotated about. |
point | Point where from where the rotation happens. If None, origin is used. |
None UM.Math.Matrix.Matrix.setByScaleFactor | ( | self, | |
float | factor, | ||
Optional[List[float]] | origin = None , |
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Optional[Vector] | direction = None |
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Set the matrix by scale by factor wrt origin & direction.
This overwrites any existing data
factor | The factor by which to scale |
origin | From where does the scaling need to be done |
direction | In what direction is the scaling (if None, it's uniform) |
None UM.Math.Matrix.Matrix.setByTranslation | ( | self, | |
Vector | direction | ||
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Set the matrix by translation vector.
This overwrites any existing data.
direction | The vector by which the (unit) matrix needs to be translated. |
None UM.Math.Matrix.Matrix.setOrtho | ( | self, | |
float | left, | ||
float | right, | ||
float | bottom, | ||
float | top, | ||
float | near, | ||
float | far | ||
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Set the matrix to an orthographic projection.
This overwrites any existing data.
left | The left edge of the projection |
right | The right edge of the projection |
top | The top edge of the projection |
bottom | The bottom edge of the projection |
near | The near plane of the projection |
far | The far plane of the projection |
None UM.Math.Matrix.Matrix.setPerspective | ( | self, | |
float | fovy, | ||
float | aspect, | ||
float | near, | ||
float | far | ||
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Set the matrix to a perspective projection.
This overwrites any existing data.
fovy | Field of view in the Y direction |
aspect | The aspect ratio |
near | Distance to the near plane |
far | Distance to the far plane |
None UM.Math.Matrix.Matrix.setToIdentity | ( | self | ) |
Create a 4x4 identity matrix.
This overwrites any existing data.
None UM.Math.Matrix.Matrix.translate | ( | self, | |
Vector | direction | ||
) |
Translate the matrix based on Vector.
direction | The vector by which the matrix needs to be translated. |