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# The Original Code is the Python Computer Graphics Kit.
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# The Initial Developer of the Original Code is Matthias Baas.
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# $Id: euleradapter.py,v 1.1.1.1 2004/12/12 14:30:59 mbaas Exp $
## \file euleradapters.py
## Contains the EulerAdapter class.
import protocols
from Interfaces import *
from component import *
import slots
from cgtypes import *
from math import pi
import _core
# EulerAdapter
class EulerAdapter(Component):
"""Euler angle to mat3, mat4 or quat adapter.
This class can be used to convert euler angles either to a mat3, a mat4
or a quat. The input slots are \c anglex_slot, \c angley_slot and
\c anglez_slot. The output slot is \c output_slot. The type of the output
can be determined in the constructor.
"""
protocols.advise(instancesProvide=[ISceneItem])
def __init__(self,
anglex = 0,
angley = 0,
anglez = 0,
radians = False,
order = "xyz",
outtype = "mat3",
name="EulerAdapter",
auto_insert=True):
"""Constructor.
\param anglex (\c float) Initial angle around x axis
\param angley (\c float) Initial angle around y axis
\param anglez (\c float) Initial angle around z axis
\param radians (\c bool) True = Angles are specified in radians instead of degrees
\param order (\c str) The rotation order ("xyz", "xzy", ...)
\param outtpye (\c str) Output type ("mat3", "mat4", "quat")
\param name (\c str) Component name
\param auto_insert (\c bool) Auto insert flag
"""
Component.__init__(self, name=name, auto_insert=auto_insert)
if radians:
self.factor = 1.0
else:
self.factor = pi/180.0
self.anglex_slot = slots.DoubleSlot(anglex)
self.angley_slot = slots.DoubleSlot(angley)
self.anglez_slot = slots.DoubleSlot(anglez)
self.addSlot("anglex", self.anglex_slot)
self.addSlot("angley", self.angley_slot)
self.addSlot("anglez", self.anglez_slot)
if outtype=="mat3":
self.output_slot = slots.ProceduralMat3Slot(self.computeMat3)
elif outtype=="mat4":
self.output_slot = slots.ProceduralMat4Slot(self.computeMat4)
elif outtype=="quat":
self.output_slot = slots.ProceduralQuatSlot(self.computeQuat)
else:
raise ValueError, "Unknown output type: %s"%outtype
self.addSlot("output", self.output_slot)
self.anglex_slot.addDependent(self.output_slot)
self.angley_slot.addDependent(self.output_slot)
self.anglez_slot.addDependent(self.output_slot)
# self.fromEuler is the mat3() method that computes the matrix
# from the euler angles. Which one exactly it is depends on the
# order
exec "self.fromEuler = mat3.fromEuler%s"%order.upper()
def protocols(self):
return [ISceneItem, IComponent]
def computeMat3(self):
"""Slot procedure."""
f = self.factor
return self.fromEuler(f*self.anglex_slot.getValue(),
f*self.angley_slot.getValue(),
f*self.anglez_slot.getValue())
def computeMat4(self):
"""Slot procedure."""
f = self.factor
m3 = self.fromEuler(f*self.anglex_slot.getValue(),
f*self.angley_slot.getValue(),
f*self.anglez_slot.getValue())
res = mat4(1)
res.setMat3(m3)
return res
def computeQuat(self):
"""Slot procedure."""
f = self.factor
m3 = self.fromEuler(f*self.anglex_slot.getValue(),
f*self.angley_slot.getValue(),
f*self.anglez_slot.getValue())
res = quat().fromMat(m3)
return res
## protected:
# angle properties...
exec slotPropertyCode("anglex")
exec slotPropertyCode("angley")
exec slotPropertyCode("anglez")
# "output" property...
exec slotPropertyCode("output")
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