Difference between revisions of "IC Python API:RLPy RMatrix4"

Latest revision as of 23:48, 14 April 2020

Description

This class represent the transform data of RTransform. This class provides access to RLPy's internal 4x4 matrix operators and related functions.

Constructor & Destructor

init ( self, M00 ,M01, M02, M03, M10, M11, M12, M13, M20, M21, M22, M23, M30, M31, M32, M33 )

The constructor. Initialize a new RMatrix4 with RMatrix4 Item Value.

Parameters

M00 [IN] initialization value - float

M01 [IN] initialization value - float

M02 [IN] initialization value - float

M03 [IN] initialization value - float

M10 [IN] initialization value - float

M11 [IN] initialization value - float

M12 [IN] initialization value - float

M13 [IN] initialization value - float

M20 [IN] initialization value - float

M21 [IN] initialization value - float

M22 [IN] initialization value - float

M23 [IN] initialization value - float

M30 [IN] initialization value - float

M31 [IN] initialization value - float

M32 [IN] initialization value - float

M33 [IN] initialization value - float

Returns

Returns the row vector of the matrix - RMatrix4

1 matrix4 = RLPy.RMatrix4( 1,   2,  3,  4,
2                          5,   6,  7,  8,
3                          9,  10, 11, 12,
4                          13, 14, 15, 16 )

init ( self, Oreder, rx, ty, rz )

The constructor. Initialize a new RMatrix4 with Order and angle.

Parameters

Oreder [IN] Euler order - RLPy.Rotation_Order

rx [IN] Angle of x-axis in radians - float

ry [IN] Angle of y-axis in radians - float

rz [IN] Angle of z-axis in radians - float

Returns

Returns the row vector of the matrix - RMatrix4

1 euler_angle_x = 90 * RLPy.RMath.CONST_DEG_TO_RAD
2 euler_angle_y = 0
3 euler_angle_z = 0
4 matrix4 = RLPy.RMatrix4( RLPy.EEulerOrder_XYZ, euler_angle_x, euler_angle_y, euler_angle_z )

init ( self, rkRotate )

The constructor. Initialize a new RMatrix4 with RMatrix3.

Parameters

rkRotate [IN] Rotation 3x3 matrix - RMatrix3

Returns

Returns the row vector of the matrix - RMatrix4

1 rotate = RLPy.RMatrix3( 1, 0, 0,
2                         0, 2, 0,
3                         0, 0, 3 )
4 matrix4 = RLPy.RMatrix4( rotate )

init ( self, kRotate, kTranslate, kScale )

The constructor. Initialize a new RMatrix4 with RTS.

Parameters

rkRotate [IN] Rotation matrix - RMatrix3

rkTranslate [IN] Translate vector - RVector3

rkScale [IN] Scale vector - RVector3

Returns

Returns the row vector of the matrix - RMatrix4

1 rotate = RLPy.RMatrix3( 1, 0, 0,
2                         0, 2, 0,
3                         0, 0, 3 )
4 translate = RLPy.RVector3( 1,2,3 )
5 scale = RLPy.RVector3( 2,2,2 )
6 matrix4 = RLPy.RMatrix4( rotate, translate, scale )

init ( self, args )

The constructor. Initialize a new 4x4 matrix object with another RMatrix4 object.

Parameters

args [IN] a 4x4 matrix object - RMatrix4

Returns

Returns the row vector of the matrix - RMatrix4

1 matrix4 = RLPy.RMatrix4( 1,   2,  3,  4,
2                          5,   6,  7,  8,
3                          9,  10, 11, 12,
4                          13, 14, 15, 16 )
5 matrix4_copy = RLPy.RMatrix4( matrix4 )
6 print( matrix4_copy == matrix4 ) # true

Operators

+

The "addition" operator.

-

The "subtraction" operator.

*

The "multiplication" operator.

/

The "division" operator.

-

The "unary minus" .

 1 matrix4_a = RLPy.RMatrix4( 1, 2, 3, 4,
 2                            0, 0, 0, 0,
 3                            0, 0, 0, 0,
 4                            0, 0, 0, 0 )
 5 matrix4_result = -matrix4_a
 6 
 7 print( matrix4_result.GetRow(0)[0] == -1 ) # true
 8 print( matrix4_result.GetRow(0)[1] == -2 ) # true
 9 print( matrix4_result.GetRow(0)[2] == -3 ) # true
10 print( matrix4_result.GetRow(0)[3] == -4 ) # true

==

The "equal to" operator. Performs a one-by-one comparison of the matrix array.

!=

The "not equal to" operator. Performs a one-by-one comparison of the matrix array.

>

The "greater than" operator. Performs a one-by-one comparison of the matrix array.

>=

The "greater than or equal to" operator. Performs a one-by-one comparison of the matrix array.

<

The "less than" operator. Performs a one-by-one comparison of the matrix array.

<=

The "less than" operator. Performs a one-by-one comparison of the matrix array.

+=

The "addition assignment" operator.

-=

The "subtraction assignment" operator.

*=

The "multiplication assignment" operator. For the calculation method, refer to the * operator.

/=

The "division assignment" operator. For the calculation method, refer to the / operator.

Member Functions

MakeIdentity (self)

This function can be used to initialize the 3x3 matrix. It is equivalent to setting the matrix to:

[1  0  0  0]
[0  1  0  0]
[0  0  1  0]
[0  0  0  1]

Returns

This object - RMatrix4

1 matrix4 = RLPy.RMatrix4()
2 matrix4.MakeIdentity()

M (self, args)

Get the value of an element in a 4x4 matrix by row and column index.

Parameters

nRow [IN] Index of the row in the matrix - int

nCol [IN] Index of the column in the matrix - int

Returns

The matrix element specified by row and col - float

1 matrix4 = RLPy.RMatrix4()
2 matrix4.MakeIdentity()
3 
4 print(matrix4.M(0,0)) #

E (self, args)

Get the value of an element in a 3x3 matrix by index number (from 0 to 15);

Parameters

nRow [IN] Index of the matrix.

Returns

The matrix element specified by index - float

1 matrix4 = RLPy.RMatrix4()
2 matrix4.MakeIdentity()
3 
4 print(matrix4.E(0)) #

GetRow (self, nR)

Retreive a row inside a 4x4 matrix.

Parameters

nRow [IN] Index of the row in the matrix.

Returns

The row vector of the matrix - RVector4

1 matrix4 = RLPy.RMatrix4()
2 matrix4.MakeIdentity()
3 row0 = matrix4.GetRow(0)
4 
5 print(row0[0])
6 print(row0[1])
7 print(row0[2])
8 print(row0[3])

GetColumn (self, nC)

Retrieve a column inside a 4x4 matrix.

Parameters

nRow [IN] Index of the column in the matrix.

Returns

The column vector of the matrix - RVector4

1 matrix4 = RLPy.RMatrix4()
2 matrix4.MakeIdentity()
3 col0 = matrix4.GetColumn(0)
4 
5 print(col0[0])
6 print(col0[1])
7 print(col0[2])
8 print(col0[3])

Transpose (self)

Obtain the transposed matrix by transposing the current m * n matrix into an n * m matrix by row-column swapping.

Returns

A new matrix containing this matrix's transpose - RMatrix4

 1 matrix4_orgin = RLPy.RMatrix4(  1,  2,  3,  4,
 2                                 5,  6,  7,  8,
 3                                 9, 10, 11, 12,
 4                                13, 14, 15, 16 )
 5 matrix4_transpose = matrix4_orgin.Transpose()
 6 row0 = matrix4_orgin.GetRow(0)
 7 col0 = matrix4_transpose.GetColumn(0)
 8 
 9 print(row0[0] == col0[0])
10 print(row0[1] == col0[1])
11 print(row0[2] == col0[2])
12 print(row0[3] == col0[3])

TransposeTimes (self, mM)

Multiply a transposed version of a 4x4 matrix with itself.

Parameters

mM [IN] the matrix - RMatrix4

Returns

A new matrix. (this^T * mM) - RMatrix4

 1 matrix4_orgin = RLPy.RMatrix4(  1,  2,  3,  4,
 2                                 5,  6,  7,  8,
 3                                 9, 10, 11, 12,
 4                                13, 14, 15, 16 )
 5 matrix4_transpose_value = RLPy.RMatrix4( 2, 0, 0, 0,
 6                                          0, 2, 0, 0,
 7                                          0, 0, 2, 0,
 8                                          0, 0, 0, 2 )
 9 matrix4_transpose_times = matrix4_orgin.TransposeTimes(matrix4_transpose_value)
10 row0 = matrix4_orgin.GetRow(0)
11 col0 = matrix4_transpose_times.GetColumn(0)
12 
13 print(row0[0]*2 == col0[0])
14 print(row0[1]*2 == col0[1])
15 print(row0[2]*2 == col0[2])
16 print(row0[3]*2 == col0[3])

TimesTranspose (self, mM)

Multiply this 4x4 matrix with a transposed version of itself.

Parameters

mM [IN] the matrix - RMatrix4

Returns

A new matrix. (this * M^T) - RMatrix4

 1 matrix4_orgin = RLPy.RMatrix4(  1,  2,  3,  4,
 2                                 5,  6,  7,  8,
 3                                 9, 10, 11, 12,
 4                                13, 14, 15, 16 )
 5 matrix4_transpose_value = RLPy.RMatrix4( 3, 0, 0, 0,
 6                                          0, 3, 0, 0,
 7                                          0, 0, 3, 0,
 8                                          0, 0, 0, 3 )
 9 matrix4_times_transpose = matrix4_orgin.TimesTranspose(matrix4_transpose_value)
10 row0 = matrix4_orgin.GetColumn(0)
11 col0 = matrix4_times_transpose.GetColumn(0)
12 
13 print(row0[0]*3 == col0[0])
14 print(row0[1]*3 == col0[1])
15 print(row0[2]*3 == col0[2])
16 print(row0[3]*3 == col0[3])

Inverse (self)

Obtain the inverse (reciprocal) of this 4x4 matrix (A^-1).

Returns

A new matrix containing this matrix's inverse - RMatrix4

 1 matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1,
 2                                1, 1,-1,-2,
 3                                1,-1,-1, 2,
 4                                1,-2, 1,-1 )
 5 matrix4_inverse = matrix4_value.Inverse()
 6 row0_inverse = matrix4_inverse.GetRow(0)
 7 
 8 print(row0_inverse[0])
 9 print(row0_inverse[1])
10 print(row0_inverse[2])
11 print(row0_inverse[3])

Adjoint (self)

Adjugate this 4x4 matrix.

Returns

A new matrix containing this matrix's adjoint - RMatrix4

 1 matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1,
 2                                1, 1,-1,-2,
 3                                1,-1,-1, 2,
 4                                1,-2, 1,-1 )
 5 matrix4_Adjoint = matrix4_value.Adjoint()
 6 row0_Adjoint = matrix4_Adjoint.GetRow(0)
 7 
 8 print(row0_Adjoint[0])
 9 print(row0_Adjoint[1])
10 print(row0_Adjoint[2])
11 print(row0_Adjoint[3])

AdjointTranspose (self)

Adjugate and transpose this 4x4 matrix.

Returns

A new matrix - RMatrix4

 1 matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1,
 2                                1, 1,-1,-2,
 3                                1,-1,-1, 2,
 4                                1,-2, 1,-1 )
 5 matrix4_Adjoint_transpose = matrix4_value.AdjointTranspose()
 6 col0_Adjoint_transpose = matrix4_Adjoint_transpose.GetColumn(0)
 7 
 8 print(col0_Adjoint_transpose[0] == row0_Adjoint[0])
 9 print(col0_Adjoint_transpose[1] == row0_Adjoint[1])
10 print(col0_Adjoint_transpose[2] == row0_Adjoint[2])
11 print(col0_Adjoint_transpose[3] == row0_Adjoint[3])

InverseTranspose (self)

Invert and transpose this 4x4 matrix.

Returns

A new matrix - RMatrix4

 1 matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1,
 2                                1, 1,-1,-2,
 3                                1,-1,-1, 2,
 4                                1,-2, 1,-1 )
 5 matrix4_inverse_transpose = matrix4_value.InverseTranspose()
 6 col0_inverse_transpose = matrix4_inverse_transpose.GetColumn(0)
 7 
 8 print(col0_inverse_transpose[0] == row0_inverse[0])
 9 print(col0_inverse_transpose[1] == row0_inverse[1])
10 print(col0_inverse_transpose[2] == row0_inverse[2])
11 print(col0_inverse_transpose[3] == row0_inverse[3])

Determinant (self)

Obtain the scalar value for this 4x4 matrix (|A|).

Returns

The determinant of the matrix - float

1 matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1,
2                                1, 1,-1,-2,
3                                1,-1,-1, 2,
4                                1,-2, 1,-1 )
5 print(matrix4_value.Determinant())

MaxColumn (self)

Find the maximum absolute value within this 4x4 matrix, and return the column in which the value is located. If all of the elements within the 4x4 matrix are 0 then return -1.

Returns

Return index of column of M containing maximum abs entry, or -1 if M = 0 - int

1 matrix4_column_value = RLPy.RMatrix4( 1, 2, 3,-5,
2                                       0, 0, 0, 0,
3                                       0, 0, 0, 0,
4                                       0, 0, 0, 0 )
5 print(matrix4_column_value.MaxColumn()) # column:3 -> abs(-5)

MaxRow (self)

Find the maximum absolute value within this 4x4 matrix, and return the row in which the value is located. If all of the elements within the 4x4 matrix are 0 then return -1.

Returns

Return index of row of M containing maximum abs entry, or -1 if M = 0 - int

1 matrix4_row_value = RLPy.RMatrix4( 1, 0, 0, 0,
2                                    2, 0, 0, 0,
3                                    3, 0, 0, 0,
4                                   -5, 0, 0, 0 )
5 print(matrix4_value.MaxRow()) # Row:3 -> abs(-5)

OneNorm (self)

Return the sum of the column elements that contain the largest absolute values.

Returns

Return Norm - float

1 matrix4_row_value = RLPy.RMatrix4( 1, 0, 0, 0,
2                                    2, 0, 0, 0,
3                                    3, 0, 0, 0,
4                                   -5, 0, 0, 0 )
5 print(matrix4_row_value.OneNorm()) # 11 -> 1+2+abs(-5)

InfNorm (self)

Return the sum of the row elements that contain the largest absolute values.

Returns

Return InfNorm - float

1 matrix4_column_value = RLPy.RMatrix4( 1, 2, 3,-5,
2                                       0, 0, 0, 0,
3                                       0, 0, 0, 0,
4                                       0, 0, 0, 0 )
5 print(matrix4_column_value.InfNorm()) # 11 -> 1+2+abs(-5)

FromRTS (self, kRotate, kTranslate, kScale)

Apply rotate, translate, and scale data to a 4x4 matrix.

Parameters

kRotate [IN] Rotate Matrix - RMatrix3

kTranslate [IN] Translate vector - RVector3

kScale [IN] Scale vector - RVector3

Returns

Return a new matrix from RTS - RMatrix4

 1 rotate = RLPy.RMatrix3( 1, 0, 0,
 2                         0, 1, 0,
 3                         0, 0, 1 )
 4 translate = RLPy.RVector3( 1, 0, 0 )
 5 scale = RLPy.RVector3( 2, 2, 2 )
 6 matrix4_result =  RLPy.RMatrix4().FromRTS( rotate, translate, scale )
 7 row0 = matrix4_result.GetRow(0)
 8 
 9 print(row0[0])
10 print(row0[1])
11 print(row0[2])
12 print(row0[3])

GetSimpleRTS (self, rkRotate, rkTranslate, rkScale)

Retrieve rotation, translation, and scale data from this 4x4 matrix.

Parameters

rkRotate [IN] Angle of x-axis in radians - float

rkTranslate [IN] Angle of y-axis in radians - float

rkScale [IN] Angle of z-axis in radians - float

Returns

 1 matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1,
 2                                1, 1,-1,-2,
 3                                1,-1,-1, 2,
 4                                1,-2, 1,-1 )
 5 rotate = RLPy.RMatrix3()
 6 translate = RLPy.RVector3()
 7 scale = RLPy.RVector3()
 8 matrix4_value.GetSimpleRTS( rotate, translate, scale )
 9 row0 = rotate.GetRow(0)
10 
11 print(row0[0])
12 print(row0[1])
13 print(row0[2])
14 
15 print(translate[0])
16 print(translate[1])
17 print(translate[2])
18 
19 print(scale[0])
20 print(scale[1])
21 print(scale[2])

GetSimpleRotate (self, rkRotate)

Retrieve rotation data from this 4x4 matrix.

Parameters

rkRotate [IN] Rotation Matrix - RMatrix3

Returns

3x3 matrix rotation data of this 4x4 matrix.

 1 matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1,
 2                                1, 1,-1,-2,
 3                                1,-1,-1, 2,
 4                                1,-2, 1,-1 
 5 rotate = RLPy.RMatrix3()
 6 matrix4_value.GetSimpleRotate( rotate )
 7 row0 = rotate.GetRow(0)
 8 
 9 print(row0[0])
10 print(row0[1])
11 print(row0[2])

SetTranslateZero (self)

Set the translation data in this 4x4 matrix to 0.

 1 matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1,
 2                                1, 1,-1,-2,
 3                                1,-1,-1, 2,
 4                                1,-2, 1,-1 
 5 matrix4_value.SetTranslateZero()
 6 row3 = matrix4_value.GetRow(3)
 7 
 8 print(row3[0] == 0)
 9 print(row3[1] == 0)
10 print(row3[2] == 0)

RotationX (self, fAngle)

Rotation matrix for rotations around x-axis.

Parameters

fAngle [IN] angle in radians - float

Returns

Return a new matrix of for rotations around x-axis - RMatrix4

1 matrix4_orgin = RLPy.RMatrix4()
2 matrix4_orgin.MakeIdentity()
3 matrix4_orgin.RotationX( 90 * RLPy.RMath.CONST_DEG_TO_RAD )

RotationY (self, fAngle)

Rotation matrix for rotations around y-axis.

Parameters

fAngle [IN] angle in radians - float

Returns

Return a new matrix of for rotations around y-axis - RMatrix4

1 matrix4_orgin = RLPy.RMatrix4()
2 matrix4_orgin.MakeIdentity()
3 matrix4_orgin.RotationY( 90 * RLPy.RMath.CONST_DEG_TO_RAD )

RotationZ (self, fAngle)

Rotation matrix for rotations around z-axis.

Parameters

fAngle [IN] angle in radians - float

Returns

Return a new matrix of for rotations around z-axis - RMatrix4

1 matrix4_orgin = RLPy.RMatrix4()
2 matrix4_orgin.MakeIdentity()
3 matrix4_orgin.RotationZ( 90 * RLPy.RMath.CONST_DEG_TO_RAD )

RotateAxisAngle (self, rkAxis, fAngle)

Rotation matrix from axis angle.

Parameters

rkAxis [IN] axis vector - RVector3

fAngle [IN] angle in radians - float

Returns

Return a new matrix from specified axis angle - RMatrix4

 1 matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1,
 2                                1, 1,-1,-2,
 3                                1,-1,-1, 2,
 4                                1,-2, 1,-1 
 5 x_axis_vector = RLPy.RVector3( 1, 0, 0 )  # axis = "X"
 6 y_axis_vector = RLPy.RVector3( 0, 1, 0 )  # axis = "Y"
 7 z_axis_vector = RLPy.RVector3( 0, 0, 1 )  # axis = "Z"    
 8 matrix4_value.RotateAxisAngle( x_axis_vector, 90 * RLPy.RMath.CONST_DEG_TO_RAD )
 9 matrix4_value.RotateAxisAngle( y_axis_vector, 90 * RLPy.RMath.CONST_DEG_TO_RAD )
10 matrix4_value.RotateAxisAngle( z_axis_vector, 90 * RLPy.RMath.CONST_DEG_TO_RAD )

FromEulerAngle (self, Oreder, rx, ry, rz)

Convert Euler angle to a 4x4 matrix according to a rotation axis order.

Parameters

Oreder [IN] Euler order - RLPY.EEulerOrder

EEulerOrder_XYZ = _RLPy.EEulerOrder_XYZ
EEulerOrder_ZYX = _RLPy.EEulerOrder_ZYX
EEulerOrder_XZY = _RLPy.EEulerOrder_XZY
EEulerOrder_YZX = _RLPy.EEulerOrder_YZX
EEulerOrder_YXZ = _RLPy.EEulerOrder_YXZ
EEulerOrder_ZXY = _RLPy.EEulerOrder_ZXY

rx [IN] Angle of x-axis in radians - float

ry [IN] Angle of y-axis in radians - float

rz [IN] Angle of z-axis in radians - float

Returns

Return a new matrix from specified axis angle - RMatrix4

 1 euler_angle_x = 90 * RLPy.RMath.CONST_DEG_TO_RAD
 2 euler_angle_y = 0
 3 euler_angle_z = 0
 4 matrix4_result = RLPy.RMatrix4().FromEulerAngle( RLPy.EEulerOrder_XYZ, euler_angle_x, euler_angle_y, euler_angle_z)
 5 row0 = matrix4_result[0].GetRow(0)
 6 
 7 print(row0[0])
 8 print(row0[1])
 9 print(row0[2])
10 print(row0[3])

SetSR (self, mSR)

Set scale and rotation part of the matrix.

Parameters

mSR [IN] 3x3 matrix - RMatrix3

Returns

Return a new 4x4 matrix - RMatrix4

1 matrix4_orgin = RLPy.RMatrix4()
2 matrix4_orgin.MakeIdentity()
3 matrix3_rotate_value = RLPy.RMatrix3( 1, 0, 0,
4                                       0, 1, 0,
5                                       0, 0, 1 )
6 matrix4_orgin.SetSR(matrix3_rotate_value)

GetSR (self)

Get scale and rotation part of the matrix.

Returns

Return a 3x3 matrix - RMatrix3

1 matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1,
2                                1, 1,-1,-2,
3                                1,-1,-1, 2,
4                                1,-2, 1,-1 
5 result = matrix4_value.GetSR()
6 row0 = result.GetRow(0)
7 print(row0[0])
8 print(row0[1])
9 print(row0[2])

SetTranslate (self, vTranslate)

Set translate of the matrix.

Parameters

vTranslate [IN] Translate vector - RVector3

Returns

New matrix with the specified translation - RMatrix4

1 matrix4_orgin = RLPy.RMatrix4()
2 matrix4_orgin.MakeIdentity()
3 matrix4_orgin.SetTranslate(RLPy.RVector3( 1, 2, 3 ) )

GetTranslate (self)

Get translate of the matrix.

Returns

Return a translate vector - RVector3

1 matrix4_orgin = RLPy.RMatrix4()
2 matrix4_orgin.MakeIdentity()
3 matrix4_orgin.SetTranslate(RLPy.RVector3( 1, 2, 3 ) )
4 result = matrix4_orgin.GetTranslate()
5 
6 print(result[0] == 1)
7 print(result[1] == 2)
8 print(result[2] == 3)

AccuScale (self, rkScale)

Accumulate this 4x4 matrix with scale vector.

Parameters

rkScale [IN] Scale vector - RVector3

Returns

Accumulate of this 4x4 matrix with scale vector - RMatrix4

 1 matrix4_orgin = RLPy.RMatrix4()
 2 matrix4_orgin.MakeIdentity()
 3 matrix4_orgin.AccuScale(RLPy.RVector3( 2, 2, 2 ) )
 4 matrix4_orgin.AccuScale(RLPy.RVector3( 3, 3, 3 ) )
 5 result = matrix4_orgin.GetSR()
 6 row0 = result.GetRow(0)
 7 print(row0[0] == 2*3)
 8 row1 = result.GetRow(1)
 9 print(row1[1] == 2*3)
10 row2 = result.GetRow(2)
11 print(row2[2] == 2*3)

AccuRotate (self, rkRotate)

Accumulate this 4x4 matrix with rotation matrix.

Parameters

rkRotate [IN] Rotation matrix - RMatrix3

Returns

Accumulate this 4x4 matrix and rotation matrix - RMatrix4

 1 matrix4_orgin = RLPy.RMatrix4()
 2 matrix4_orgin.MakeIdentity()
 3 matrix3_orgin = RLPy.RMatrix3()
 4 matrix3_orgin.FromAxisAngle( RLPy.RVector3( 0, 1, 0 ), 90 * RLPy.RMath.CONST_DEG_TO_RAD )
 5 matrix4_orgin.AccuRotate(matrix3_orgin)
 6 matrix4_orgin.AccuRotate(matrix3_orgin)
 7 rotate = RLPy.RMatrix3()
 8 matrix4_orgin.GetSimpleRotate( rotate )
 9 row0 = rotate.GetRow(0)
10 print(row0[0])
11 print(row0[1])
12 print(row0[2])

AccuTranslate (self, rkTranslate)

Accumulate this 4x4 matrix with translate vector.

Parameters

rkTranslate [IN] Translate vector - RVector3

Returns

Accumulate of this 4x4 matrix and translation vector - RMatrix4

1 matrix4_orgin = RLPy.RMatrix4()
2 matrix4_orgin.MakeIdentity()
3 matrix4_orgin.AccuTranslate(RLPy.RVector3( 1, 2, 3 ) )
4 matrix4_orgin.AccuTranslate(RLPy.RVector3( 2, 2, 2 ) )
5 row3 = matrix4_orgin.GetRow(3)
6 print(row3[0] == 1+2)
7 print(row3[1] == 2+2)
8 print(row3[2] == 2+3)

@@ Line 6: / Line 6: @@
 This class represent the transform data of RTransform.  This class provides access to RLPy's internal 4x4 matrix operators and related functions.
+== Constructor & Destructor ==
+=== __init__ ( self, M00 ,M01, M02, M03, M10, M11, M12, M13, M20, M21, M22, M23, M30, M31, M32, M33 ) ===
+The constructor. Initialize a new [[IC_Python_API:RLPy_RMatrix4|RMatrix4]] with [[IC_Python_API:RLPy_RMatrix4|RMatrix4]] Item Value.
+==== Parameters ====
+:'''M00''' [IN] initialization value - float
+:'''M01''' [IN] initialization value - float
+:'''M02''' [IN] initialization value - float
+:'''M03''' [IN] initialization value - float
+:'''M10''' [IN] initialization value - float
+:'''M11''' [IN] initialization value - float
+:'''M12''' [IN] initialization value - float
+:'''M13''' [IN] initialization value - float
+:'''M20''' [IN] initialization value - float
+:'''M21''' [IN] initialization value - float
+:'''M22''' [IN] initialization value - float
+:'''M23''' [IN] initialization value - float
+:'''M30''' [IN] initialization value - float
+:'''M31''' [IN] initialization value - float
+:'''M32''' [IN] initialization value - float
+:'''M33''' [IN] initialization value - float
+==== Returns ====
+:Returns the row vector of the matrix - [[IC_Python_API:RLPy_RMatrix4|RMatrix4]]
+<syntaxhighlight lang="python" line='line'>
+matrix4 = RLPy.RMatrix4( 1,   2,  3,  4,
+,   6,  7,  8,
+,  10, 11, 12,
+, 14, 15, 16 )
+</syntaxhighlight>
+=== __init__ ( self, Oreder, rx, ty, rz ) ===
+The constructor. Initialize a new [[IC_Python_API:RLPy_RMatrix4|RMatrix4]] with Order and angle.
+==== Parameters ====
+:'''Oreder''' [IN] Euler order - RLPy.Rotation_Order
+:'''rx''' [IN] Angle of x-axis in radians - float
+:'''ry''' [IN] Angle of y-axis in radians - float
+:'''rz''' [IN] Angle of z-axis in radians - float
+==== Returns ====
+:Returns the row vector of the matrix - [[IC_Python_API:RLPy_RMatrix4|RMatrix4]]
+<syntaxhighlight lang="python" line='line'>
+euler_angle_x = 90 * RLPy.RMath.CONST_DEG_TO_RAD
+euler_angle_y = 0
+euler_angle_z = 0
+matrix4 = RLPy.RMatrix4( RLPy.EEulerOrder_XYZ, euler_angle_x, euler_angle_y, euler_angle_z )
+</syntaxhighlight>
+=== __init__ ( self, rkRotate ) ===
+The constructor. Initialize a new [[IC_Python_API:RLPy_RMatrix4|RMatrix4]] with [[IC_Python_API:RLPy_RMatrix3|RMatrix3]].
+==== Parameters ====
+:'''rkRotate''' [IN] Rotation 3x3 matrix - [[IC_Python_API:RLPy_RMatrix3|RMatrix3]]
+==== Returns ====
+:Returns the row vector of the matrix - [[IC_Python_API:RLPy_RMatrix4|RMatrix4]]
+<syntaxhighlight lang="python" line='line'>
+rotate = RLPy.RMatrix3( 1, 0, 0,
+, 2, 0,
+, 0, 3 )
+matrix4 = RLPy.RMatrix4( rotate )
+</syntaxhighlight>
+=== __init__ ( self, kRotate, kTranslate, kScale ) ===
+The constructor. Initialize a new [[IC_Python_API:RLPy_RMatrix4|RMatrix4]] with RTS.
+==== Parameters ====
+:'''rkRotate''' [IN] Rotation matrix - [[IC_Python_API:RLPy_RMatrix3|RMatrix3]]
+:'''rkTranslate''' [IN] Translate vector - [[IC_Python_API:RLPy_RVector3|RVector3]]
+:'''rkScale''' [IN] Scale vector - [[IC_Python_API:RLPy_RVector3|RVector3]]
+==== Returns ====
+:Returns the row vector of the matrix - [[IC_Python_API:RLPy_RMatrix4|RMatrix4]]
+<syntaxhighlight lang="python" line='line'>
+rotate = RLPy.RMatrix3( 1, 0, 0,
+, 2, 0,
+, 0, 3 )
+translate = RLPy.RVector3( 1,2,3 )
+scale = RLPy.RVector3( 2,2,2 )
+matrix4 = RLPy.RMatrix4( rotate, translate, scale )
+</syntaxhighlight>
+=== __init__ ( self, args ) ===
+The constructor. Initialize a new 4x4 matrix object with another [[IC_Python_API:RLPy_RMatrix4|RMatrix4]] object.
+==== Parameters ====
+:'''args''' [IN] a 4x4 matrix object - [[IC_Python_API:RLPy_RMatrix4|RMatrix4]]
+==== Returns ====
+:Returns the row vector of the matrix - [[IC_Python_API:RLPy_RMatrix4|RMatrix4]]
+<syntaxhighlight lang="python" line='line'>
+matrix4 = RLPy.RMatrix4( 1,   2,  3,  4,
+,   6,  7,  8,
+,  10, 11, 12,
+, 14, 15, 16 )
+matrix4_copy = RLPy.RMatrix4( matrix4 )
+print( matrix4_copy == matrix4 ) # true
+</syntaxhighlight>
 == Operators ==
@@ Line 313: / Line 424: @@
 This function can be used to initialize the 3x3 matrix.  It is equivalent to setting the matrix to:
-:[1  0  0  0]
+ [1  0  0  0]
-:[0  1  0  0]
+ [0  1  0  0]
-:[0  0  1  0]
+ [0  0  1  0]
-:[0  0  0  1]
+ [0  0  0  1]
 ==== Returns ====
@@ Line 331: / Line 442: @@
 ==== Parameters ====
-:'''nRow'''[IN] Index of the row in the matrix - int'''nCol'''[IN] Index of the column in the matrix - int
+:'''nRow''' [IN] Index of the row in the matrix - int
+:'''nCol''' [IN] Index of the column in the matrix - int
 ==== Returns ====
@@ Line 348: / Line 460: @@
 ==== Parameters ====
-:'''nRow'''[IN] Index of the matrix.
+:'''nRow''' [IN] Index of the matrix.
 ==== Returns ====
@@ Line 365: / Line 477: @@
 ==== Parameters ====
-:'''nRow'''[IN] Index of the row in the matrix.
+:'''nRow''' [IN] Index of the row in the matrix.
 ==== Returns ====
@@ Line 386: / Line 498: @@
 ==== Parameters ====
-:'''nRow'''[IN] Index of the column in the matrix.
+:'''nRow''' [IN] Index of the column in the matrix.
 ==== Returns ====
@@ Line 429: / Line 541: @@
 ==== Parameters ====
-:'''mM'''[IN] the matrix - [[IC_Python_API:RLPy_RMatrix4|RMatrix4]]
+:'''mM''' [IN] the matrix - [[IC_Python_API:RLPy_RMatrix4|RMatrix4]]
 ==== Returns ====
@@ Line 458: / Line 570: @@
 ==== Parameters ====
-:'''mM'''[IN] the matrix - [[IC_Python_API:RLPy_RMatrix4|RMatrix4]]
+:'''mM''' [IN] the matrix - [[IC_Python_API:RLPy_RMatrix4|RMatrix4]]
 ==== Returns ====
@@ Line 569: / Line 681: @@
 Obtain the scalar value for this 4x4 matrix (|A|).
+[[File:Rlpy_rmatrix4_determinant.jpg]]
 ==== Returns ====
@@ Line 646: / Line 760: @@
 ==== Parameters ====
-:'''kRotate  '''[IN] Rotate Matrix - [[IC_Python_API:RLPy_RMatrix3|RMatrix3]]
+:'''kRotate  ''' [IN] Rotate Matrix - [[IC_Python_API:RLPy_RMatrix3|RMatrix3]]
-:'''kTranslate'''[IN] Translate vector - [[IC_Python_API:RLPy_RVector3|RVector3]]
+:'''kTranslate''' [IN] Translate vector - [[IC_Python_API:RLPy_RVector3|RVector3]]
-:'''kScale  '''[IN] Scale vector - [[IC_Python_API:RLPy_RVector3|RVector3]]
+:'''kScale  ''' [IN] Scale vector - [[IC_Python_API:RLPy_RVector3|RVector3]]
 ==== Returns ====
@@ Line 674: / Line 788: @@
 ==== Parameters ====
 :'''rkRotate'''  [IN] Angle of x-axis in radians - float
-:'''rkTranslate'''[IN] Angle of y-axis in radians - float
+:'''rkTranslate''' [IN] Angle of y-axis in radians - float
-:'''rkScale  '''[IN] Angle of z-axis in radians - float
+:'''rkScale  ''' [IN] Angle of z-axis in radians - float
 ==== Returns ====
@@ Line 708: / Line 822: @@
 ==== Parameters ====
-:'''rkRotate'''[IN] Rotation Matrix - [[IC_Python_API:RLPy_RMatrix3|RMatrix3]]
+:'''rkRotate''' [IN] Rotation Matrix - [[IC_Python_API:RLPy_RMatrix3|RMatrix3]]
 ==== Returns ====
@@ Line 749: / Line 863: @@
 ==== Parameters ====
-:'''fAngle'''[IN] angle in radians - float
+:'''fAngle''' [IN] angle in radians - float
 ==== Returns ====
@@ Line 765: / Line 879: @@
 ==== Parameters ====
-:'''fAngle'''[IN] angle in radians - float
+:'''fAngle''' [IN] angle in radians - float
 ==== Returns ====
@@ Line 781: / Line 895: @@
 ==== Parameters ====
-:'''fAngle'''[IN] angle in radians - float
+:'''fAngle''' [IN] angle in radians - float
 ==== Returns ====
@@ Line 797: / Line 911: @@
 ==== Parameters ====
-:'''rkAxis'''[IN] axis vector - [[IC_Python_API:RLPy_RVector3|RVector3]]
+:'''rkAxis''' [IN] axis vector - [[IC_Python_API:RLPy_RVector3|RVector3]]
-:'''fAngle'''[IN] angle in radians - float
+:'''fAngle''' [IN] angle in radians - float
 ==== Returns ====
@@ Line 821: / Line 935: @@
 ==== Parameters ====
-:'''Oreder'''[IN] Euler order - RLPY.EEulerOrder
+:'''Oreder''' [IN] Euler order - RLPY.EEulerOrder
 :*EEulerOrder_XYZ = _RLPy.EEulerOrder_XYZ
 :*EEulerOrder_ZYX = _RLPy.EEulerOrder_ZYX
@@ Line 828: / Line 942: @@
 :*EEulerOrder_YXZ = _RLPy.EEulerOrder_YXZ
 :*EEulerOrder_ZXY = _RLPy.EEulerOrder_ZXY
-:'''rx'''[IN] Angle of x-axis in radians - float
+:'''rx''' [IN] Angle of x-axis in radians - float
-:'''ry'''[IN] Angle of y-axis in radians - float
+:'''ry''' [IN] Angle of y-axis in radians - float
-:'''rz'''[IN] Angle of z-axis in radians - float
+:'''rz''' [IN] Angle of z-axis in radians - float
 ==== Returns ====
@@ Line 853: / Line 967: @@
 ==== Parameters ====
-:'''mSR'''[IN] 3x3 matrix - [[IC_Python_API:RLPy_RMatrix3|RMatrix3]]
+:'''mSR''' [IN] 3x3 matrix - [[IC_Python_API:RLPy_RMatrix3|RMatrix3]]
 ==== Returns ====
@@ Line 891: / Line 1,005: @@
 ==== Parameters ====
-:'''vTranslate'''[IN] Translate vector - [[IC_Python_API:RLPy_RVector3|RVector3]]
+:'''vTranslate''' [IN] Translate vector - [[IC_Python_API:RLPy_RVector3|RVector3]]
 ==== Returns ====
@@ Line 925: / Line 1,039: @@
 ==== Parameters ====
-:'''rkScale'''[IN] Scale vector - [[IC_Python_API:RLPy_RVector3|RVector3]]
+:'''rkScale''' [IN] Scale vector - [[IC_Python_API:RLPy_RVector3|RVector3]]
 ==== Returns ====
@@ Line 949: / Line 1,063: @@
 ==== Parameters ====
-:'''rkRotate'''[IN] Rotation matrix - [[IC_Python_API:RLPy_RMatrix3|RMatrix3]]
+:'''rkRotate''' [IN] Rotation matrix - [[IC_Python_API:RLPy_RMatrix3|RMatrix3]]
 ==== Returns ====
@@ Line 974: / Line 1,088: @@
 ==== Parameters ====
-:'''rkTranslate'''[IN] Translate vector - [[IC_Python_API:RLPy_RVector3|RVector3]]
+:'''rkTranslate''' [IN] Translate vector - [[IC_Python_API:RLPy_RVector3|RVector3]]
 ==== Returns ====

Difference between revisions of "IC Python API:RLPy RMatrix4"

Latest revision as of 23:48, 14 April 2020

Contents

Description

Constructor & Destructor

__init__ ( self, M00 ,M01, M02, M03, M10, M11, M12, M13, M20, M21, M22, M23, M30, M31, M32, M33 )

Parameters

Returns

__init__ ( self, Oreder, rx, ty, rz )

Parameters

Returns

__init__ ( self, rkRotate )

Parameters

Returns

__init__ ( self, kRotate, kTranslate, kScale )

Parameters

Returns

__init__ ( self, args )

Parameters

Returns

Operators

+

-

*

/

-

==

!=

>

>=

<

<=

+=

-=

*=

/=

Member Functions

MakeIdentity (self)

Returns

M (self, args)

Parameters

Returns

E (self, args)

Parameters

Returns

GetRow (self, nR)

Parameters

Returns

GetColumn (self, nC)

Parameters

Returns

Transpose (self)

Returns

TransposeTimes (self, mM)

Parameters

Returns

TimesTranspose (self, mM)

Parameters

Returns

Inverse (self)

Returns

Adjoint (self)

Returns

AdjointTranspose (self)

Returns

InverseTranspose (self)

Returns

Determinant (self)

Returns

MaxColumn (self)

Returns

MaxRow (self)

Returns

OneNorm (self)

Returns

InfNorm (self)

Returns

FromRTS (self, kRotate, kTranslate, kScale)

Parameters

Returns

init ( self, M00 ,M01, M02, M03, M10, M11, M12, M13, M20, M21, M22, M23, M30, M31, M32, M33 )

init ( self, Oreder, rx, ty, rz )

init ( self, rkRotate )

init ( self, kRotate, kTranslate, kScale )

init ( self, args )