本文整理匯總了Python中SofaPython.Quaternion.rotate方法的典型用法代碼示例。如果您正苦於以下問題：Python Quaternion.rotate方法的具體用法？Python Quaternion.rotate怎麽用？Python Quaternion.rotate使用的例子？那麽, 這裏精選的方法代碼示例或許可以為您提供幫助。您也可以進一步了解該方法所在類SofaPython.Quaternion的用法示例。
在下文中一共展示了Quaternion.rotate方法的7個代碼示例，這些例子默認根據受歡迎程度排序。您可以為喜歡或者感覺有用的代碼點讚，您的評價將有助於係統推薦出更棒的Python代碼示例。
示例1: inv
# 需要導入模塊: from SofaPython import Quaternion [as 別名]
# 或者: from SofaPython.Quaternion import rotate [as 別名]
def inv(x):
res = np.zeros(7)
res[3:] = quat.conj(x[3:])
res[:3] = -quat.rotate(res[3:], x[:3])
return res示例2: prod
# 需要導入模塊: from SofaPython import Quaternion [as 別名]
# 或者: from SofaPython.Quaternion import rotate [as 別名]
def prod(x, y):
print x.inv()
res = np.zeros(7)
res[:3] = x[:3] + quat.rotate(x[3:], y[:3])
res[3:] = quat.prod(x[3:], y[3:])
return res示例3: onBeginAnimationStep
# 需要導入模塊: from SofaPython import Quaternion [as 別名]
# 或者: from SofaPython.Quaternion import rotate [as 別名]
def onBeginAnimationStep(self, dt):
# current mu from current plane angle
currentMu = math.tan( self.currentAngle )
if self.counter < 100 : # does not rotate the plane for 100 time steps
self.counter += 1
return 0
# is it a mu we want to test?
if numpy.allclose( self.muToTest, currentMu, 1e-3, 1e-3 ) :
# at the end of 100 time steps, check if the box was sticking or sliding
self.counter = 0
self.muToTest += 0.1
# look at the box velocity along its x-axis
localbox = Quaternion.rotate(Quaternion.conj( Frame.Frame( shared.plane.position[0] ).rotation ),
shared.box.velocity[0][:3])
vel = localbox[0]
#print 'plane/ground angle:', self.currentAngle
#print 'velocity:',vel
#print shared.box.position[0], shared.box.velocity[0][:3]
#print vel, currentMu, shared.mu
testVel = (vel > 1e-1)
if testVel:
testMu = (currentMu>=shared.mu-1e-2)
else:
testMu = (currentMu>=shared.mu)
EXPECT_FALSE( testVel ^ testMu, str(vel)+' '+str(currentMu)+'mu='+str(shared.mu) ) # xor
#print testVel, testMu
#sys.stdout.flush()
# all finished
if currentMu >= shared.mu + .1:
self.sendSuccess()
# update plane orientation
self.currentAngle += 0.001
q = Quaternion.from_euler( [0,0,-self.currentAngle] )
p = shared.plane.position
p[0] = [0,0,0,q[3],q[2],q[1],q[0]]
shared.plane.position = p
return 0示例4: __mul__
# 需要導入模塊: from SofaPython import Quaternion [as 別名]
# 或者: from SofaPython.Quaternion import rotate [as 別名]
def __mul__(self, other):
res = Frame()
res.translation = vec.sum(self.translation,
quat.rotate(self.rotation,
other.translation))
res.rotation = quat.prod( self.rotation,
other.rotation)
return res示例5: apply
# 需要導入模塊: from SofaPython import Quaternion [as 別名]
# 或者: from SofaPython.Quaternion import rotate [as 別名]
def apply(self, vec):
""" apply transformation to vec (a [x,y,z] vector)
return the result
"""
return array(quat.rotate(self.rotation, vec) + asarray(self.translation))示例6: inv
# 需要導入模塊: from SofaPython import Quaternion [as 別名]
# 或者: from SofaPython.Quaternion import rotate [as 別名]
def inv(self):
res = Frame()
res.rotation = quat.conj( self.rotation )
res.translation = - quat.rotate(res.rotation, self.translation)
return res示例7: createScene
# 需要導入模塊: from SofaPython import Quaternion [as 別名]
# 或者: from SofaPython.Quaternion import rotate [as 別名]
def createScene(node):
node.createObject('RequiredPlugin',
pluginName = 'Compliant')
ode = node.createObject('CompliantImplicitSolver')
num = node.createObject('SequentialSolver')
# ode.debug = 1
node.dt = 0.01
pos = np.zeros(7)
vel = np.zeros(6)
force = np.zeros(6)
alpha = math.pi / 4.0
q = quat.exp([0, 0, alpha])
pos[:3] = [-0.5, 0, 0]
pos[3:] = q
mass = 1.0
# change this for more fun
dim = np.array([1, 2, 1])
dim2 = dim * dim
inertia = mass / 12.0 * (dim2[ [1, 2, 0] ] + dim2[ [2, 0, 1] ])
volume = 1.0
force[3:] = quat.rotate(q, [0, 1, 0])
scene = node.createChild('scene')
good = scene.createChild('good')
dofs = good.createObject('MechanicalObject',
template = 'Rigid',
name = 'dofs',
position = pos,
velocity = vel,
showObject = 1)
good.createObject('RigidMass',
template = 'Rigid',
name = 'mass',
mass = mass,
inertia = inertia)
good.createObject('ConstantForceField',
template = 'Rigid',
name = 'ff',
forces = force)
bad = scene.createChild('bad')
pos[:3] = [0.5, 0, 0]
dofs = bad.createObject('MechanicalObject',
template = 'Rigid',
name = 'dofs',
position = pos,
velocity = vel,
showObject = 1)
inertia_matrix = np.diag(inertia)
def cat(x): return ' '.join( map(str, x))
def print_matrix(x):
return '[' + ','.join(map(str, x)) + ']'
bad.createObject('UniformMass',
template = 'Rigid',
name = 'mass',
mass = cat([mass, volume, print_matrix(inertia_matrix / mass)]))
bad.createObject('ConstantForceField',
template = 'Rigid',
name = 'ff',
forces = force)
node.gravity = '0 0 0'