Difference between revisions of "IC Python API:RLPy RMatrix4"
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{{TOC}} | {{TOC}} | ||
{{Parent|IC_Python_API:RL_Python_Modules|Modules}} | {{Parent|IC_Python_API:RL_Python_Modules|Modules}} | ||
− | == | + | {{last_modified}} |
− | This class represent the | + | |
− | + | == Description == | |
− | This class | + | |
− | + | This class represent the transform data of RTransform. This class provides access to RLPy's internal 4x4 matrix operators and related functions. | |
− | + | ||
− | + | == Operators == | |
− | + | ||
− | + | === + === | |
− | + | ||
− | + | The "addition" operator. | |
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− | + | ||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4_a = RLPy.RMatrix4( 1, 2, 3, 4, |
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | matrix4_b = RLPy.RMatrix4( 2, 2, 2, 2, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | matrix4_result = matrix4_a + matrix4_b | ||
+ | |||
+ | print( matrix4_result.GetRow(0)[0] == 1+2 ) # true | ||
+ | print( matrix4_result.GetRow(0)[1] == 2+2 ) # true | ||
+ | print( matrix4_result.GetRow(0)[2] == 3+2 ) # true | ||
+ | print( matrix4_result.GetRow(0)[3] == 4+2 ) # true | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | |||
− | |||
− | |||
− | + | === - === | |
− | + | ||
− | === | + | The "subtraction" operator. |
− | + | ||
− | + | ||
− | + | ||
− | + | ||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4_a = RLPy.RMatrix4( 1, 2, 3, 4, |
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | matrix4_b = RLPy.RMatrix4( 2, 2, 2, 2, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | matrix4_result = matrix4_a - matrix4_b | ||
+ | |||
+ | print( matrix4_result.GetRow(0)[0] == 1-2 ) # true | ||
+ | print( matrix4_result.GetRow(0)[1] == 2-2 ) # true | ||
+ | print( matrix4_result.GetRow(0)[2] == 3-2 ) # true | ||
+ | print( matrix4_result.GetRow(0)[3] == 4-2 ) # true | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | |||
− | |||
− | |||
− | + | === * === | |
− | + | ||
− | === | + | The "multiplication" operator. |
− | + | ||
− | + | ||
− | + | ||
− | + | ||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4_a = RLPy.RMatrix4( 1, 2, 3, 4, |
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | matrix4_b = RLPy.RMatrix4( 2, 0, 0, 0, | ||
+ | 2, 0, 0, 0, | ||
+ | 2, 0, 0, 0, | ||
+ | 2, 0, 0, 0 ) | ||
+ | matrix4_result = matrix4_a * matrix4_b | ||
+ | |||
+ | print( matrix4_result.GetRow(0)[0] == 1*2 + 2*2 + 3*2 + 4*2 ) # true | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | |||
− | |||
− | |||
− | + | === / === | |
− | + | ||
− | === | + | The "division" operator. |
− | + | ||
− | + | ||
− | + | ||
− | + | ||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4_a = RLPy.RMatrix4( 1, 2, 3, 4, |
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | matrix4_result = matrix4_a / 2 | ||
+ | |||
+ | print( matrix4_result.GetRow(0)[0] == 1/2 ) # true | ||
+ | print( matrix4_result.GetRow(0)[1] == 2/2 ) # true | ||
+ | print( matrix4_result.GetRow(0)[2] == 3/2 ) # true | ||
+ | print( matrix4_result.GetRow(0)[3] == 4/2 ) # true | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | + | ||
− | === | + | === - === |
− | + | ||
− | + | The "unary minus" . | |
− | + | ||
− | + | ||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4_a = RLPy.RMatrix4( 1, 2, 3, 4, |
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | matrix4_result = -matrix4_a | ||
+ | |||
+ | print( matrix4_result.GetRow(0)[0] == -1 ) # true | ||
+ | print( matrix4_result.GetRow(0)[1] == -2 ) # true | ||
+ | print( matrix4_result.GetRow(0)[2] == -3 ) # true | ||
+ | print( matrix4_result.GetRow(0)[3] == -4 ) # true | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | + | ||
− | ==== | + | === == === |
− | + | ||
− | + | The "equal to" operator. Performs a one-by-one comparison of the matrix array. | |
− | + | ||
− | + | ||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4_a = RLPy.RMatrix4( 1, 2, 3, 4, |
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | matrix4_b = RLPy.RMatrix4( 1, 2, 3, 4, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | |||
+ | print( matrix4_a == matrix4_b ) # true | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | + | ||
− | === | + | === != === |
− | + | ||
− | + | The "not equal to" operator. Performs a one-by-one comparison of the matrix array. | |
− | + | ||
− | + | ||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4_a = RLPy.RMatrix4( 1, 2, 3, 4, |
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | matrix4_b = RLPy.RMatrix4( 2, 2, 2, 2, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | |||
+ | print( matrix4_a != matrix4_b ) # true | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | |||
− | |||
− | |||
− | + | === > === | |
− | + | ||
− | === | + | The "greater than" operator. Performs a one-by-one comparison of the matrix array. |
− | + | ||
− | + | ||
− | + | ||
− | + | ||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4_a = RLPy.RMatrix4( 1, 0, 0, 0, |
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | matrix4_b = RLPy.RMatrix4( 2, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | |||
+ | print( matrix4_b > matrix4_a ) # true | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | |||
− | |||
− | |||
− | + | === >= === | |
− | + | The "greater than or equal to" operator. Performs a one-by-one comparison of the matrix array. | |
− | + | <syntaxhighlight lang="Python"> | |
+ | matrix4_a = RLPy.RMatrix4( 1, 1, 1, 4, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | matrix4_b = RLPy.RMatrix4( 1, 1, 1, 8, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | |||
+ | print( matrix4_b >= matrix4_a ) # true | ||
+ | </syntaxhighlight> | ||
+ | |||
+ | === < === | ||
+ | |||
+ | The "less than" operator. Performs a one-by-one comparison of the matrix array. | ||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4_a = RLPy.RMatrix4( 2, 0, 0, 0, |
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | matrix4_b = RLPy.RMatrix4( 3, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | |||
+ | print( matrix4_a < matrix4_b ) # true | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | |||
− | |||
− | |||
− | + | === <= === | |
− | + | ||
− | === | + | The "less than" operator. Performs a one-by-one comparison of the matrix array. |
− | + | ||
− | + | ||
− | + | ||
− | + | ||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4_a = RLPy.RMatrix4( 2, 2, 1, 0, |
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | matrix4_b = RLPy.RMatrix4( 2, 2, 5, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | |||
+ | print( matrix4_a <= matrix4_b ) # true | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | |||
− | |||
− | |||
− | + | === += === | |
− | + | ||
− | === | + | The "addition assignment" operator. |
− | + | ||
− | + | ||
− | + | ||
− | + | ||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4 = RLPy.RMatrix4( 1, 2, 3, 4, |
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | matrix4 += RLPy.RMatrix4( 2, 2, 2, 2, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | |||
+ | print( matrix4.GetRow(0)[0] == 1+2 ) # true | ||
+ | print( matrix4.GetRow(0)[1] == 2+2 ) # true | ||
+ | print( matrix4.GetRow(0)[2] == 3+2 ) # true | ||
+ | print( matrix4.GetRow(0)[3] == 4+2 ) # true | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | + | ||
− | === | + | === -= === |
− | + | ||
− | + | The "subtraction assignment" operator. | |
− | + | ||
− | + | ||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4 = RLPy.RMatrix4( 1, 2, 3, 4, |
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | matrix4 -= RLPy.RMatrix4( 2, 2, 2, 2, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | |||
+ | print( matrix4.GetRow(0)[0] == 1-2 ) # true | ||
+ | print( matrix4.GetRow(0)[1] == 2-2 ) # true | ||
+ | print( matrix4.GetRow(0)[2] == 3-2 ) # true | ||
+ | print( matrix4.GetRow(0)[3] == 4-2 ) # true | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | + | ||
− | === | + | === *= === |
− | + | ||
− | + | The "multiplication assignment" operator. For the calculation method, refer to the '''*''' operator. | |
− | + | ||
− | + | ||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4 = RLPy.RMatrix4( 1, 2, 3, 4, |
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | matrix4 *= 2 | ||
+ | |||
+ | print( matrix4.GetRow(0)[0] == 1*2 ) # true | ||
+ | print( matrix4.GetRow(0)[1] == 2*2 ) # true | ||
+ | print( matrix4.GetRow(0)[2] == 3*2 ) # true | ||
+ | print( matrix4.GetRow(0)[3] == 4*2 ) # true | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | + | ||
− | === | + | === /= === |
− | + | ||
− | + | The "division assignment" operator. For the calculation method, refer to the '''/''' operator. | |
− | + | ||
− | + | ||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4 = RLPy.RMatrix4( 1, 2, 3, 4, |
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | matrix4 /= 2 | ||
+ | |||
+ | print( matrix4.GetRow(0)[0] == 1/2 ) # true | ||
+ | print( matrix4.GetRow(0)[1] == 2/2 ) # true | ||
+ | print( matrix4.GetRow(0)[2] == 3/2 ) # true | ||
+ | print( matrix4.GetRow(0)[3] == 4/2 ) # true | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | + | ||
− | ==== | + | == 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 - RLPy.RMatrix4 | ||
+ | |||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4 = RLPy.RMatrix4() |
+ | matrix4.MakeIdentity() | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | + | ||
− | ==== | + | === 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 | ||
+ | |||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4.M ( | + | matrix4 = RLPy.RMatrix4() |
+ | matrix4.MakeIdentity() | ||
+ | |||
+ | print(matrix4.M(0,0)) # | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | |||
− | |||
− | |||
− | '''nRow''' [IN] Index of the | + | === 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 | ||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4.MakeIdentity ( | + | matrix4 = RLPy.RMatrix4() |
+ | matrix4.MakeIdentity() | ||
+ | |||
+ | print(matrix4.E(0)) # | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | + | ||
− | ==== | + | === 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 - RLPy.RVector4 | ||
+ | |||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4 = RLPy.RMatrix4() |
+ | matrix4.MakeIdentity() | ||
+ | row0 = matrix4.GetRow(0) | ||
+ | |||
+ | print(row0[0]) | ||
+ | print(row0[1]) | ||
+ | print(row0[2]) | ||
+ | print(row0[3]) | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | + | ||
− | ==== | + | === 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 - RLPy.RVector4 | ||
+ | |||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4 = RLPy.RMatrix4() |
+ | matrix4.MakeIdentity() | ||
+ | col0 = matrix4.GetColumn(0) | ||
+ | |||
+ | print(col0[0]) | ||
+ | print(col0[1]) | ||
+ | print(col0[2]) | ||
+ | print(col0[3]) | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | + | ||
− | ====Returns==== | + | === 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 - RLPy.RMatrix4 | ||
+ | |||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4_orgin = RLPy.RMatrix4( 1, 2, 3, 4, |
+ | 5, 6, 7, 8, | ||
+ | 9, 10, 11, 12, | ||
+ | 13, 14, 15, 16 ) | ||
+ | matrix4_transpose = matrix4_orgin.Transpose() | ||
+ | row0 = matrix4_orgin.GetRow(0) | ||
+ | col0 = matrix4_transpose.GetColumn(0) | ||
+ | |||
+ | print(row0[0] == col0[0]) | ||
+ | print(row0[1] == col0[1]) | ||
+ | print(row0[2] == col0[2]) | ||
+ | print(row0[3] == col0[3]) | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | + | ||
− | ==== | + | === TransposeTimes (self, mM) === |
− | + | ||
− | + | Multiply a transposed version of a 4x4 matrix with itself. | |
− | + | ||
− | === | + | ==== Parameters ==== |
+ | :'''mM'''[IN] the matrix - RLPy.RMatrix4 | ||
+ | |||
+ | ==== Returns ==== | ||
+ | :A new matrix. (this^T * mM) - RLPy.RMatrix4 | ||
+ | |||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4_orgin = RLPy.RMatrix4( 1, 2, 3, 4, |
+ | 5, 6, 7, 8, | ||
+ | 9, 10, 11, 12, | ||
+ | 13, 14, 15, 16 ) | ||
+ | matrix4_transpose_value = RLPy.RMatrix4( 2, 0, 0, 0, | ||
+ | 0, 2, 0, 0, | ||
+ | 0, 0, 2, 0, | ||
+ | 0, 0, 0, 2 ) | ||
+ | matrix4_transpose_times = matrix4_orgin.TransposeTimes(matrix4_transpose_value) | ||
+ | row0 = matrix4_orgin.GetRow(0) | ||
+ | col0 = matrix4_transpose_times.GetColumn(0) | ||
+ | |||
+ | print(row0[0]*2 == col0[0]) | ||
+ | print(row0[1]*2 == col0[1]) | ||
+ | print(row0[2]*2 == col0[2]) | ||
+ | print(row0[3]*2 == col0[3]) | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | |||
− | |||
− | |||
− | ''' | + | === TimesTranspose (self, mM) === |
+ | |||
+ | Multiply this 4x4 matrix with a transposed version of itself. | ||
+ | |||
+ | ==== Parameters ==== | ||
+ | :'''mM'''[IN] the matrix - RLPy.RMatrix4 | ||
+ | |||
+ | ==== Returns ==== | ||
+ | :A new matrix. (this * M^T) - RLPy.RMatrix4 | ||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4_orgin = RLPy.RMatrix4( 1, 2, 3, 4, |
+ | 5, 6, 7, 8, | ||
+ | 9, 10, 11, 12, | ||
+ | 13, 14, 15, 16 ) | ||
+ | matrix4_transpose_value = RLPy.RMatrix4( 3, 0, 0, 0, | ||
+ | 0, 3, 0, 0, | ||
+ | 0, 0, 3, 0, | ||
+ | 0, 0, 0, 3 ) | ||
+ | matrix4_times_transpose = matrix4_orgin.TimesTranspose(matrix4_transpose_value) | ||
+ | row0 = matrix4_orgin.GetColumn(0) | ||
+ | col0 = matrix4_times_transpose.GetColumn(0) | ||
+ | |||
+ | print(row0[0]*3 == col0[0]) | ||
+ | print(row0[1]*3 == col0[1]) | ||
+ | print(row0[2]*3 == col0[2]) | ||
+ | print(row0[3]*3 == col0[3]) | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | |||
− | |||
− | |||
− | + | === Inverse (self) === | |
− | + | ||
− | ====Returns==== | + | Obtain the inverse (reciprocal) of this 4x4 matrix (A^-1). |
− | + | ||
− | + | ==== Returns ==== | |
− | + | :A new matrix containing this matrix's inverse - RLPy.RMatrix4 | |
− | + | ||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4 | + | matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1, |
+ | 1, 1,-1,-2, | ||
+ | 1,-1,-1, 2, | ||
+ | 1,-2, 1,-1 ) | ||
+ | matrix4_inverse = matrix4_value.Inverse() | ||
+ | row0_inverse = matrix4_inverse.GetRow(0) | ||
+ | |||
+ | print(row0_inverse[0]) | ||
+ | print(row0_inverse[1]) | ||
+ | print(row0_inverse[2]) | ||
+ | print(row0_inverse[3]) | ||
</syntaxhighlight> | </syntaxhighlight> | ||
+ | |||
+ | === Adjoint (self) === | ||
+ | |||
+ | Adjugate this 4x4 matrix. | ||
+ | |||
+ | ==== Returns ==== | ||
+ | :A new matrix containing this matrix's adjoint - RLPy.RMatrix4 | ||
+ | |||
+ | <syntaxhighlight lang="Python"> | ||
+ | matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1, | ||
+ | 1, 1,-1,-2, | ||
+ | 1,-1,-1, 2, | ||
+ | 1,-2, 1,-1 ) | ||
+ | matrix4_Adjoint = matrix4_value.Adjoint() | ||
+ | row0_Adjoint = matrix4_Adjoint.GetRow(0) | ||
+ | |||
+ | print(row0_Adjoint[0]) | ||
+ | print(row0_Adjoint[1]) | ||
+ | print(row0_Adjoint[2]) | ||
+ | print(row0_Adjoint[3]) | ||
+ | </syntaxhighlight> | ||
+ | |||
+ | === AdjointTranspose (self) === | ||
+ | |||
+ | Adjugate and transpose this 4x4 matrix. | ||
+ | |||
+ | ==== Returns ==== | ||
+ | :A new matrix - RLPy.RMatrix4 | ||
+ | |||
+ | <syntaxhighlight lang="Python"> | ||
+ | matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1, | ||
+ | 1, 1,-1,-2, | ||
+ | 1,-1,-1, 2, | ||
+ | 1,-2, 1,-1 ) | ||
+ | matrix4_Adjoint_transpose = matrix4_value.AdjointTranspose() | ||
+ | col0_Adjoint_transpose = matrix4_Adjoint_transpose.GetColumn(0) | ||
+ | |||
+ | print(col0_Adjoint_transpose[0] == row0_Adjoint[0]) | ||
+ | print(col0_Adjoint_transpose[1] == row0_Adjoint[1]) | ||
+ | print(col0_Adjoint_transpose[2] == row0_Adjoint[2]) | ||
+ | print(col0_Adjoint_transpose[3] == row0_Adjoint[3]) | ||
+ | </syntaxhighlight> | ||
+ | |||
+ | === InverseTranspose (self) === | ||
+ | |||
+ | Invert and transpose this 4x4 matrix. | ||
+ | |||
+ | ==== Returns ==== | ||
+ | :A new matrix - RLPy.RMatrix4 | ||
+ | |||
+ | <syntaxhighlight lang="Python"> | ||
+ | matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1, | ||
+ | 1, 1,-1,-2, | ||
+ | 1,-1,-1, 2, | ||
+ | 1,-2, 1,-1 ) | ||
+ | matrix4_inverse_transpose = matrix4_value.InverseTranspose() | ||
+ | col0_inverse_transpose = matrix4_inverse_transpose.GetColumn(0) | ||
+ | |||
+ | print(col0_inverse_transpose[0] == row0_inverse[0]) | ||
+ | print(col0_inverse_transpose[1] == row0_inverse[1]) | ||
+ | print(col0_inverse_transpose[2] == row0_inverse[2]) | ||
+ | print(col0_inverse_transpose[3] == row0_inverse[3]) | ||
+ | </syntaxhighlight> | ||
+ | |||
+ | === Determinant (self) === | ||
+ | |||
+ | Obtain the scalar value for this 4x4 matrix (|A|). | ||
+ | |||
+ | ==== Returns ==== | ||
+ | :The determinant of the matrix - float | ||
+ | |||
+ | <syntaxhighlight lang="Python"> | ||
+ | matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1, | ||
+ | 1, 1,-1,-2, | ||
+ | 1,-1,-1, 2, | ||
+ | 1,-2, 1,-1 ) | ||
+ | print(matrix4_value.Determinant()) | ||
+ | </syntaxhighlight> | ||
+ | |||
+ | === 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 | ||
+ | |||
+ | <syntaxhighlight lang="Python"> | ||
+ | matrix4_column_value = RLPy.RMatrix4( 1, 2, 3,-5, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | print(matrix4_column_value.MaxColumn()) # column:3 -> abs(-5) | ||
+ | </syntaxhighlight> | ||
+ | |||
+ | === 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 | ||
+ | |||
+ | <syntaxhighlight lang="Python"> | ||
+ | matrix4_row_value = RLPy.RMatrix4( 1, 0, 0, 0, | ||
+ | 2, 0, 0, 0, | ||
+ | 3, 0, 0, 0, | ||
+ | -5, 0, 0, 0 ) | ||
+ | print(matrix4_value.MaxRow()) # Row:3 -> abs(-5) | ||
+ | </syntaxhighlight> | ||
+ | |||
+ | === OneNorm (self) === | ||
+ | |||
+ | Return the sum of the column elements that contain the largest absolute values. | ||
+ | |||
+ | ==== Returns ==== | ||
+ | :Return Norm - float | ||
+ | |||
+ | <syntaxhighlight lang="Python"> | ||
+ | matrix4_row_value = RLPy.RMatrix4( 1, 0, 0, 0, | ||
+ | 2, 0, 0, 0, | ||
+ | 3, 0, 0, 0, | ||
+ | -5, 0, 0, 0 ) | ||
+ | print(matrix4_row_value.OneNorm()) # 11 -> 1+2+abs(-5) | ||
+ | </syntaxhighlight> | ||
+ | |||
+ | === InfNorm (self) === | ||
+ | |||
+ | Return the sum of the row elements that contain the largest absolute values. | ||
+ | |||
+ | ==== Returns ==== | ||
+ | :Return InfNorm - float | ||
+ | |||
+ | <syntaxhighlight lang="Python"> | ||
+ | matrix4_column_value = RLPy.RMatrix4( 1, 2, 3,-5, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0, | ||
+ | 0, 0, 0, 0 ) | ||
+ | print(matrix4_column_value.InfNorm()) # 11 -> 1+2+abs(-5) | ||
+ | </syntaxhighlight> | ||
+ | |||
+ | === FromRTS (self, kRotate, kTranslate, kScale) === | ||
+ | |||
+ | Apply rotate, translate, and scale data to a 4x4 matrix. | ||
+ | |||
+ | ==== Parameters ==== | ||
+ | :'''kRotate '''[IN] Rotate Matrix - RLPy.RMatrix3 | ||
+ | :'''kTranslate'''[IN] Translate vector - RLPy.RVector3 | ||
+ | :'''kScale '''[IN] Scale vector - RLPy.RVector3 | ||
+ | |||
+ | ==== Returns ==== | ||
+ | :Return a new matrix from RTS - RLPy.RMatrix4 | ||
+ | |||
+ | <syntaxhighlight lang="Python"> | ||
+ | rotate = RLPy.RMatrix3( 1, 0, 0, | ||
+ | 0, 1, 0, | ||
+ | 0, 0, 1 ) | ||
+ | translate = RLPy.RVector3( 1, 0, 0 ) | ||
+ | scale = RLPy.RVector3( 2, 2, 2 ) | ||
+ | matrix4_result = RLPy.RMatrix4().FromRTS( rotate, translate, scale ) | ||
+ | row0 = matrix4_result.GetRow(0) | ||
+ | |||
+ | print(row0[0]) | ||
+ | print(row0[1]) | ||
+ | print(row0[2]) | ||
+ | print(row0[3]) | ||
+ | </syntaxhighlight> | ||
+ | |||
+ | === 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 ==== | ||
+ | |||
+ | <syntaxhighlight lang="Python"> | ||
+ | matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1, | ||
+ | 1, 1,-1,-2, | ||
+ | 1,-1,-1, 2, | ||
+ | 1,-2, 1,-1 ) | ||
+ | rotate = RLPy.RMatrix3() | ||
+ | translate = RLPy.RVector3() | ||
+ | scale = RLPy.RVector3() | ||
+ | matrix4_value.GetSimpleRTS( rotate, translate, scale ) | ||
+ | row0 = rotate.GetRow(0) | ||
+ | |||
+ | print(row0[0]) | ||
+ | print(row0[1]) | ||
+ | print(row0[2]) | ||
+ | |||
+ | print(translate[0]) | ||
+ | print(translate[1]) | ||
+ | print(translate[2]) | ||
+ | |||
+ | print(scale[0]) | ||
+ | print(scale[1]) | ||
+ | print(scale[2]) | ||
+ | </syntaxhighlight> | ||
+ | |||
+ | === GetSimpleRotate (self, rkRotate) === | ||
+ | |||
+ | Retrieve rotation data from this 4x4 matrix. | ||
+ | |||
+ | ==== Parameters ==== | ||
+ | :'''rkRotate'''[IN] Rotation Matrix - RLPy.RMatrix3 | ||
+ | |||
+ | ==== Returns ==== | ||
+ | : | ||
+ | |||
+ | <syntaxhighlight lang="Python"> | ||
+ | matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1, | ||
+ | 1, 1,-1,-2, | ||
+ | 1,-1,-1, 2, | ||
+ | 1,-2, 1,-1 | ||
+ | rotate = RLPy.RMatrix3() | ||
+ | matrix4_value.GetSimpleRotate( rotate ) | ||
+ | row0 = rotate.GetRow(0) | ||
+ | |||
+ | print(row0[0]) | ||
+ | print(row0[1]) | ||
+ | print(row0[2]) | ||
+ | </syntaxhighlight> | ||
+ | |||
+ | === SetTranslateZero (self) === | ||
+ | |||
+ | Set the translation data in this 4x4 matrix to 0. | ||
+ | |||
+ | <syntaxhighlight lang="Python"> | ||
+ | matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1, | ||
+ | 1, 1,-1,-2, | ||
+ | 1,-1,-1, 2, | ||
+ | 1,-2, 1,-1 | ||
+ | matrix4_value.SetTranslateZero() | ||
+ | row3 = matrix4_value.GetRow(3) | ||
+ | |||
+ | print(row3[0] == 0) | ||
+ | print(row3[1] == 0) | ||
+ | print(row3[2] == 0) | ||
+ | </syntaxhighlight> | ||
+ | |||
+ | === 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 - RLPy.RMatrix4 | ||
+ | |||
+ | <syntaxhighlight lang="Python"> | ||
+ | matrix4_orgin = RLPy.RMatrix4() | ||
+ | matrix4_orgin.MakeIdentity() | ||
+ | matrix4_orgin.RotationX( 90 * RLPy.RMath.CONST_DEG_TO_RAD ) | ||
+ | </syntaxhighlight> | ||
+ | |||
+ | === RotationY (self, fAngle) === | ||
+ | |||
Rotation matrix for rotations around y-axis. | Rotation matrix for rotations around y-axis. | ||
− | |||
− | |||
− | '''fAngle''' [IN] angle in radians - float | + | ==== Parameters ==== |
− | + | :'''fAngle'''[IN] angle in radians - float | |
− | ====Returns==== | + | |
− | + | ==== Returns ==== | |
− | + | :Return a new matrix of for rotations around y-axis - RLPy.RMatrix4 | |
− | + | ||
− | + | ||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4_orgin = RLPy.RMatrix4() |
+ | matrix4_orgin.MakeIdentity() | ||
+ | matrix4_orgin.RotationY( 90 * RLPy.RMath.CONST_DEG_TO_RAD ) | ||
</syntaxhighlight> | </syntaxhighlight> | ||
+ | |||
+ | === RotationZ (self, fAngle) === | ||
+ | |||
Rotation matrix for rotations around z-axis. | Rotation matrix for rotations around z-axis. | ||
− | |||
− | |||
− | '''fAngle''' [IN] angle in radians - float | + | ==== Parameters ==== |
− | + | :'''fAngle'''[IN] angle in radians - float | |
− | ====Returns==== | + | |
− | + | ==== Returns ==== | |
− | + | :Return a new matrix of for rotations around z-axis - RLPy.RMatrix4 | |
− | + | ||
− | + | ||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4_orgin = RLPy.RMatrix4() |
+ | matrix4_orgin.MakeIdentity() | ||
+ | matrix4_orgin.RotationZ( 90 * RLPy.RMath.CONST_DEG_TO_RAD ) | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | |||
− | |||
− | |||
− | ''' | + | === RotateAxisAngle (self, rkAxis, fAngle) === |
− | + | ||
− | ====Returns==== | + | Rotation matrix from axis angle. |
− | + | ||
− | + | ==== Parameters ==== | |
− | + | :'''rkAxis'''[IN] axis vector - RLPy.RVector3 | |
− | + | :'''fAngle'''[IN] angle in radians - float | |
+ | |||
+ | ==== Returns ==== | ||
+ | :Return a new matrix from specified axis angle - RLPy.RMatrix4 | ||
+ | |||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1, |
+ | 1, 1,-1,-2, | ||
+ | 1,-1,-1, 2, | ||
+ | 1,-2, 1,-1 | ||
+ | x_axis_vector = RLPy.RVector3( 1, 0, 0 ) # axis = "X" | ||
+ | y_axis_vector = RLPy.RVector3( 0, 1, 0 ) # axis = "Y" | ||
+ | z_axis_vector = RLPy.RVector3( 0, 0, 1 ) # axis = "Z" | ||
+ | matrix4_value.RotateAxisAngle( x_axis_vector, 90 * RLPy.RMath.CONST_DEG_TO_RAD ) | ||
+ | matrix4_value.RotateAxisAngle( y_axis_vector, 90 * RLPy.RMath.CONST_DEG_TO_RAD ) | ||
+ | matrix4_value.RotateAxisAngle( z_axis_vector, 90 * RLPy.RMath.CONST_DEG_TO_RAD ) | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | |||
− | |||
− | |||
− | ''' | + | === FromEulerAngle (self, Oreder, rx, ry, rz) === |
− | + | ||
− | ====Returns==== | + | Convert Euler angle to a 4x4 matrix according to a rotation axis order. |
− | + | ||
− | + | ==== 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 ==== | ||
+ | :Return a new matrix from specified axis angle - RLPy.RMatrix4 | ||
+ | |||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | euler_angle_x = 90 * RLPy.RMath.CONST_DEG_TO_RAD |
+ | euler_angle_y = 0 | ||
+ | euler_angle_z = 0 | ||
+ | matrix4_result = RLPy.RMatrix4().FromEulerAngle( RLPy.EEulerOrder_XYZ, euler_angle_x, euler_angle_y, euler_angle_z) | ||
+ | row0 = matrix4_result[0].GetRow(0) | ||
+ | |||
+ | print(row0[0]) | ||
+ | print(row0[1]) | ||
+ | print(row0[2]) | ||
+ | print(row0[3]) | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | |||
− | |||
− | |||
− | ''' | + | === SetSR (self, mSR) === |
− | + | ||
− | ====Returns==== | + | Set scale and rotation part of the matrix。 |
− | + | ||
− | + | ==== Parameters ==== | |
− | + | :'''mSR'''[IN] 3x3 matrix - RLPy.RMatrix3 | |
− | + | ||
+ | ==== Returns ==== | ||
+ | :Return a new 4x4 matrix - RLPy.RMatrix4 | ||
+ | |||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4. | + | matrix4_orgin = RLPy.RMatrix4() |
+ | matrix4_orgin.MakeIdentity() | ||
+ | matrix3_rotate_value = RLPy.RMatrix3( 1, 0, 0, | ||
+ | 0, 1, 0, | ||
+ | 0, 0, 1 ) | ||
+ | matrix4_orgin.SetSR(matrix3_rotate_value) | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | + | ||
− | ====Returns==== | + | === GetSR (self) === |
− | + | ||
− | + | Get scale and rotation part of the matrix。 | |
− | + | ||
− | + | ==== Returns ==== | |
+ | :Return a 3x3 matrix - RLPy.RMatrix3 | ||
+ | |||
<syntaxhighlight lang="Python"> | <syntaxhighlight lang="Python"> | ||
− | RLPy.RMatrix4 | + | matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1, |
+ | 1, 1,-1,-2, | ||
+ | 1,-1,-1, 2, | ||
+ | 1,-2, 1,-1 | ||
+ | result = matrix4_value.GetSR() | ||
+ | row0 = result.GetRow(0) | ||
+ | print(row0[0]) | ||
+ | print(row0[1]) | ||
+ | print(row0[2]) | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | |||
− | |||
− | |||
− | ''' | + | === SetTranslate (self, vTranslate) === |
− | </ | + | |
− | ====Returns==== | + | Set translate of the matrix。 |
− | < | + | |
− | </ | + | ==== Parameters ==== |
+ | :'''vTranslate'''[IN] Translate vector - RLPy.RVector3 | ||
+ | |||
+ | ==== Returns ==== | ||
+ | :Return a new matrix with the specified translation - RLPy.RMatrix4 | ||
+ | |||
+ | <syntaxhighlight lang="Python"> | ||
+ | matrix4_orgin = RLPy.RMatrix4() | ||
+ | matrix4_orgin.MakeIdentity() | ||
+ | matrix4_orgin.SetTranslate(RLPy.RVector3( 1, 2, 3 ) ) | ||
+ | </syntaxhighlight> | ||
+ | |||
+ | === GetTranslate (self) === | ||
+ | |||
+ | Get translate of the matrix。 | ||
+ | |||
+ | ==== Returns ==== | ||
+ | :Return a translate vector - RLPy.RVector3 | ||
+ | |||
+ | <syntaxhighlight lang="Python"> | ||
+ | matrix4_orgin = RLPy.RMatrix4() | ||
+ | matrix4_orgin.MakeIdentity() | ||
+ | matrix4_orgin.SetTranslate(RLPy.RVector3( 1, 2, 3 ) ) | ||
+ | result = matrix4_orgin.GetTranslate() | ||
+ | |||
+ | print(result[0] == 1) | ||
+ | print(result[1] == 2) | ||
+ | print(result[2] == 3) | ||
+ | </syntaxhighlight> | ||
+ | |||
+ | === AccuScale (self, rkScale) === | ||
+ | |||
+ | Accumulate matrix with scale vector。 | ||
+ | |||
+ | ==== Parameters ==== | ||
+ | :'''rkScale'''[IN] Scale vector - RLPy.RVector3 | ||
+ | |||
+ | ==== Returns ==== | ||
+ | :Return a new matrix (*this) *= Accumulate - RLPy.RMatrix4 | ||
+ | |||
+ | <syntaxhighlight lang="Python"> | ||
+ | matrix4_orgin = RLPy.RMatrix4() | ||
+ | matrix4_orgin.MakeIdentity() | ||
+ | matrix4_orgin.AccuScale(RLPy.RVector3( 2, 2, 2 ) ) | ||
+ | matrix4_orgin.AccuScale(RLPy.RVector3( 3, 3, 3 ) ) | ||
+ | result = matrix4_orgin.GetSR() | ||
+ | row0 = result.GetRow(0) | ||
+ | print(row0[0] == 2*3) | ||
+ | row1 = result.GetRow(1) | ||
+ | print(row1[1] == 2*3) | ||
+ | row2 = result.GetRow(2) | ||
+ | print(row2[2] == 2*3) | ||
+ | </syntaxhighlight> | ||
+ | |||
+ | === AccuRotate (self, rkRotate) === | ||
+ | |||
+ | Accumulate matrix with rotation matrix。 | ||
+ | |||
+ | ==== Parameters ==== | ||
+ | :'''rkRotate'''[IN] Rotation matrix - RLPy.RMatrix3 | ||
+ | |||
+ | ==== Returns ==== | ||
+ | :Return a new matrix (*this) *= Accumulate - RLPy.RMatrix4 | ||
+ | |||
+ | <syntaxhighlight lang="Python"> | ||
+ | matrix4_orgin = RLPy.RMatrix4() | ||
+ | matrix4_orgin.MakeIdentity() | ||
+ | matrix3_orgin = RLPy.RMatrix3() | ||
+ | matrix3_orgin.FromAxisAngle( RLPy.RVector3( 0, 1, 0 ), 90 * RLPy.RMath.CONST_DEG_TO_RAD ) | ||
+ | matrix4_orgin.AccuRotate(matrix3_orgin) | ||
+ | matrix4_orgin.AccuRotate(matrix3_orgin) | ||
+ | rotate = RLPy.RMatrix3() | ||
+ | matrix4_orgin.GetSimpleRotate( rotate ) | ||
+ | row0 = rotate.GetRow(0) | ||
+ | print(row0[0]) | ||
+ | print(row0[1]) | ||
+ | print(row0[2]) | ||
+ | </syntaxhighlight> | ||
+ | |||
+ | === AccuTranslate (self, rkTranslate) === | ||
+ | |||
+ | Accumulate matrix with translate vector。 | ||
+ | |||
+ | ==== Parameters ==== | ||
+ | :'''rkTranslate'''[IN] Translate vector - RLPy.RVector3 | ||
+ | |||
+ | ==== Returns ==== | ||
+ | :Return a new matrix (*this) *= Accumulate - RLPy.RMatrix4 | ||
+ | |||
+ | <syntaxhighlight lang="Python"> | ||
+ | matrix4_orgin = RLPy.RMatrix4() | ||
+ | matrix4_orgin.MakeIdentity() | ||
+ | matrix4_orgin.AccuTranslate(RLPy.RVector3( 1, 2, 3 ) ) | ||
+ | matrix4_orgin.AccuTranslate(RLPy.RVector3( 2, 2, 2 ) ) | ||
+ | row3 = matrix4_orgin.GetRow(3) | ||
+ | print(row3[0] == 1+2) | ||
+ | print(row3[1] == 2+2) | ||
+ | print(row3[2] == 2+3) | ||
+ | </syntaxhighlight> |
Revision as of 22:24, 25 February 2020
Contents
- 1 Description
- 2 Operators
- 3 Member Functions
- 3.1 MakeIdentity (self)
- 3.2 M (self, args)
- 3.3 E (self, args)
- 3.4 GetRow (self, nR)
- 3.5 GetColumn (self, nC)
- 3.6 Transpose (self)
- 3.7 TransposeTimes (self, mM)
- 3.8 TimesTranspose (self, mM)
- 3.9 Inverse (self)
- 3.10 Adjoint (self)
- 3.11 AdjointTranspose (self)
- 3.12 InverseTranspose (self)
- 3.13 Determinant (self)
- 3.14 MaxColumn (self)
- 3.15 MaxRow (self)
- 3.16 OneNorm (self)
- 3.17 InfNorm (self)
- 3.18 FromRTS (self, kRotate, kTranslate, kScale)
- 3.19 GetSimpleRTS (self, rkRotate, rkTranslate, rkScale)
- 3.20 GetSimpleRotate (self, rkRotate)
- 3.21 SetTranslateZero (self)
- 3.22 RotationX (self, fAngle)
- 3.23 RotationY (self, fAngle)
- 3.24 RotationZ (self, fAngle)
- 3.25 RotateAxisAngle (self, rkAxis, fAngle)
- 3.26 FromEulerAngle (self, Oreder, rx, ry, rz)
- 3.27 SetSR (self, mSR)
- 3.28 GetSR (self)
- 3.29 SetTranslate (self, vTranslate)
- 3.30 GetTranslate (self)
- 3.31 AccuScale (self, rkScale)
- 3.32 AccuRotate (self, rkRotate)
- 3.33 AccuTranslate (self, rkTranslate)
- Main article: Modules.
- Last modified: 02/25/2020
Description
This class represent the transform data of RTransform. This class provides access to RLPy's internal 4x4 matrix operators and related functions.
Operators
+
The "addition" operator.
matrix4_a = RLPy.RMatrix4( 1, 2, 3, 4,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
matrix4_b = RLPy.RMatrix4( 2, 2, 2, 2,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
matrix4_result = matrix4_a + matrix4_b
print( matrix4_result.GetRow(0)[0] == 1+2 ) # true
print( matrix4_result.GetRow(0)[1] == 2+2 ) # true
print( matrix4_result.GetRow(0)[2] == 3+2 ) # true
print( matrix4_result.GetRow(0)[3] == 4+2 ) # true
-
The "subtraction" operator.
matrix4_a = RLPy.RMatrix4( 1, 2, 3, 4,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
matrix4_b = RLPy.RMatrix4( 2, 2, 2, 2,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
matrix4_result = matrix4_a - matrix4_b
print( matrix4_result.GetRow(0)[0] == 1-2 ) # true
print( matrix4_result.GetRow(0)[1] == 2-2 ) # true
print( matrix4_result.GetRow(0)[2] == 3-2 ) # true
print( matrix4_result.GetRow(0)[3] == 4-2 ) # true
*
The "multiplication" operator.
matrix4_a = RLPy.RMatrix4( 1, 2, 3, 4,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
matrix4_b = RLPy.RMatrix4( 2, 0, 0, 0,
2, 0, 0, 0,
2, 0, 0, 0,
2, 0, 0, 0 )
matrix4_result = matrix4_a * matrix4_b
print( matrix4_result.GetRow(0)[0] == 1*2 + 2*2 + 3*2 + 4*2 ) # true
/
The "division" operator.
matrix4_a = RLPy.RMatrix4( 1, 2, 3, 4,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
matrix4_result = matrix4_a / 2
print( matrix4_result.GetRow(0)[0] == 1/2 ) # true
print( matrix4_result.GetRow(0)[1] == 2/2 ) # true
print( matrix4_result.GetRow(0)[2] == 3/2 ) # true
print( matrix4_result.GetRow(0)[3] == 4/2 ) # true
-
The "unary minus" .
matrix4_a = RLPy.RMatrix4( 1, 2, 3, 4,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
matrix4_result = -matrix4_a
print( matrix4_result.GetRow(0)[0] == -1 ) # true
print( matrix4_result.GetRow(0)[1] == -2 ) # true
print( matrix4_result.GetRow(0)[2] == -3 ) # true
print( matrix4_result.GetRow(0)[3] == -4 ) # true
==
The "equal to" operator. Performs a one-by-one comparison of the matrix array.
matrix4_a = RLPy.RMatrix4( 1, 2, 3, 4,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
matrix4_b = RLPy.RMatrix4( 1, 2, 3, 4,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
print( matrix4_a == matrix4_b ) # true
!=
The "not equal to" operator. Performs a one-by-one comparison of the matrix array.
matrix4_a = RLPy.RMatrix4( 1, 2, 3, 4,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
matrix4_b = RLPy.RMatrix4( 2, 2, 2, 2,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
print( matrix4_a != matrix4_b ) # true
>
The "greater than" operator. Performs a one-by-one comparison of the matrix array.
matrix4_a = RLPy.RMatrix4( 1, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
matrix4_b = RLPy.RMatrix4( 2, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
print( matrix4_b > matrix4_a ) # true
>=
The "greater than or equal to" operator. Performs a one-by-one comparison of the matrix array.
matrix4_a = RLPy.RMatrix4( 1, 1, 1, 4,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
matrix4_b = RLPy.RMatrix4( 1, 1, 1, 8,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
print( matrix4_b >= matrix4_a ) # true
<
The "less than" operator. Performs a one-by-one comparison of the matrix array.
matrix4_a = RLPy.RMatrix4( 2, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
matrix4_b = RLPy.RMatrix4( 3, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
print( matrix4_a < matrix4_b ) # true
<=
The "less than" operator. Performs a one-by-one comparison of the matrix array.
matrix4_a = RLPy.RMatrix4( 2, 2, 1, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
matrix4_b = RLPy.RMatrix4( 2, 2, 5, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
print( matrix4_a <= matrix4_b ) # true
+=
The "addition assignment" operator.
matrix4 = RLPy.RMatrix4( 1, 2, 3, 4,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
matrix4 += RLPy.RMatrix4( 2, 2, 2, 2,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
print( matrix4.GetRow(0)[0] == 1+2 ) # true
print( matrix4.GetRow(0)[1] == 2+2 ) # true
print( matrix4.GetRow(0)[2] == 3+2 ) # true
print( matrix4.GetRow(0)[3] == 4+2 ) # true
-=
The "subtraction assignment" operator.
matrix4 = RLPy.RMatrix4( 1, 2, 3, 4,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
matrix4 -= RLPy.RMatrix4( 2, 2, 2, 2,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
print( matrix4.GetRow(0)[0] == 1-2 ) # true
print( matrix4.GetRow(0)[1] == 2-2 ) # true
print( matrix4.GetRow(0)[2] == 3-2 ) # true
print( matrix4.GetRow(0)[3] == 4-2 ) # true
*=
The "multiplication assignment" operator. For the calculation method, refer to the * operator.
matrix4 = RLPy.RMatrix4( 1, 2, 3, 4,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
matrix4 *= 2
print( matrix4.GetRow(0)[0] == 1*2 ) # true
print( matrix4.GetRow(0)[1] == 2*2 ) # true
print( matrix4.GetRow(0)[2] == 3*2 ) # true
print( matrix4.GetRow(0)[3] == 4*2 ) # true
/=
The "division assignment" operator. For the calculation method, refer to the / operator.
matrix4 = RLPy.RMatrix4( 1, 2, 3, 4,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
matrix4 /= 2
print( matrix4.GetRow(0)[0] == 1/2 ) # true
print( matrix4.GetRow(0)[1] == 2/2 ) # true
print( matrix4.GetRow(0)[2] == 3/2 ) # true
print( matrix4.GetRow(0)[3] == 4/2 ) # true
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 - RLPy.RMatrix4
matrix4 = RLPy.RMatrix4()
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 - intnCol[IN] Index of the column in the matrix - int
Returns
- The matrix element specified by row and col - float
matrix4 = RLPy.RMatrix4()
matrix4.MakeIdentity()
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
matrix4 = RLPy.RMatrix4()
matrix4.MakeIdentity()
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 - RLPy.RVector4
matrix4 = RLPy.RMatrix4()
matrix4.MakeIdentity()
row0 = matrix4.GetRow(0)
print(row0[0])
print(row0[1])
print(row0[2])
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 - RLPy.RVector4
matrix4 = RLPy.RMatrix4()
matrix4.MakeIdentity()
col0 = matrix4.GetColumn(0)
print(col0[0])
print(col0[1])
print(col0[2])
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 - RLPy.RMatrix4
matrix4_orgin = RLPy.RMatrix4( 1, 2, 3, 4,
5, 6, 7, 8,
9, 10, 11, 12,
13, 14, 15, 16 )
matrix4_transpose = matrix4_orgin.Transpose()
row0 = matrix4_orgin.GetRow(0)
col0 = matrix4_transpose.GetColumn(0)
print(row0[0] == col0[0])
print(row0[1] == col0[1])
print(row0[2] == col0[2])
print(row0[3] == col0[3])
TransposeTimes (self, mM)
Multiply a transposed version of a 4x4 matrix with itself.
Parameters
- mM[IN] the matrix - RLPy.RMatrix4
Returns
- A new matrix. (this^T * mM) - RLPy.RMatrix4
matrix4_orgin = RLPy.RMatrix4( 1, 2, 3, 4,
5, 6, 7, 8,
9, 10, 11, 12,
13, 14, 15, 16 )
matrix4_transpose_value = RLPy.RMatrix4( 2, 0, 0, 0,
0, 2, 0, 0,
0, 0, 2, 0,
0, 0, 0, 2 )
matrix4_transpose_times = matrix4_orgin.TransposeTimes(matrix4_transpose_value)
row0 = matrix4_orgin.GetRow(0)
col0 = matrix4_transpose_times.GetColumn(0)
print(row0[0]*2 == col0[0])
print(row0[1]*2 == col0[1])
print(row0[2]*2 == col0[2])
print(row0[3]*2 == col0[3])
TimesTranspose (self, mM)
Multiply this 4x4 matrix with a transposed version of itself.
Parameters
- mM[IN] the matrix - RLPy.RMatrix4
Returns
- A new matrix. (this * M^T) - RLPy.RMatrix4
matrix4_orgin = RLPy.RMatrix4( 1, 2, 3, 4,
5, 6, 7, 8,
9, 10, 11, 12,
13, 14, 15, 16 )
matrix4_transpose_value = RLPy.RMatrix4( 3, 0, 0, 0,
0, 3, 0, 0,
0, 0, 3, 0,
0, 0, 0, 3 )
matrix4_times_transpose = matrix4_orgin.TimesTranspose(matrix4_transpose_value)
row0 = matrix4_orgin.GetColumn(0)
col0 = matrix4_times_transpose.GetColumn(0)
print(row0[0]*3 == col0[0])
print(row0[1]*3 == col0[1])
print(row0[2]*3 == col0[2])
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 - RLPy.RMatrix4
matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1,
1, 1,-1,-2,
1,-1,-1, 2,
1,-2, 1,-1 )
matrix4_inverse = matrix4_value.Inverse()
row0_inverse = matrix4_inverse.GetRow(0)
print(row0_inverse[0])
print(row0_inverse[1])
print(row0_inverse[2])
print(row0_inverse[3])
Adjoint (self)
Adjugate this 4x4 matrix.
Returns
- A new matrix containing this matrix's adjoint - RLPy.RMatrix4
matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1,
1, 1,-1,-2,
1,-1,-1, 2,
1,-2, 1,-1 )
matrix4_Adjoint = matrix4_value.Adjoint()
row0_Adjoint = matrix4_Adjoint.GetRow(0)
print(row0_Adjoint[0])
print(row0_Adjoint[1])
print(row0_Adjoint[2])
print(row0_Adjoint[3])
AdjointTranspose (self)
Adjugate and transpose this 4x4 matrix.
Returns
- A new matrix - RLPy.RMatrix4
matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1,
1, 1,-1,-2,
1,-1,-1, 2,
1,-2, 1,-1 )
matrix4_Adjoint_transpose = matrix4_value.AdjointTranspose()
col0_Adjoint_transpose = matrix4_Adjoint_transpose.GetColumn(0)
print(col0_Adjoint_transpose[0] == row0_Adjoint[0])
print(col0_Adjoint_transpose[1] == row0_Adjoint[1])
print(col0_Adjoint_transpose[2] == row0_Adjoint[2])
print(col0_Adjoint_transpose[3] == row0_Adjoint[3])
InverseTranspose (self)
Invert and transpose this 4x4 matrix.
Returns
- A new matrix - RLPy.RMatrix4
matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1,
1, 1,-1,-2,
1,-1,-1, 2,
1,-2, 1,-1 )
matrix4_inverse_transpose = matrix4_value.InverseTranspose()
col0_inverse_transpose = matrix4_inverse_transpose.GetColumn(0)
print(col0_inverse_transpose[0] == row0_inverse[0])
print(col0_inverse_transpose[1] == row0_inverse[1])
print(col0_inverse_transpose[2] == row0_inverse[2])
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
matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1,
1, 1,-1,-2,
1,-1,-1, 2,
1,-2, 1,-1 )
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
matrix4_column_value = RLPy.RMatrix4( 1, 2, 3,-5,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
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
matrix4_row_value = RLPy.RMatrix4( 1, 0, 0, 0,
2, 0, 0, 0,
3, 0, 0, 0,
-5, 0, 0, 0 )
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
matrix4_row_value = RLPy.RMatrix4( 1, 0, 0, 0,
2, 0, 0, 0,
3, 0, 0, 0,
-5, 0, 0, 0 )
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
matrix4_column_value = RLPy.RMatrix4( 1, 2, 3,-5,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 )
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 - RLPy.RMatrix3
- kTranslate[IN] Translate vector - RLPy.RVector3
- kScale [IN] Scale vector - RLPy.RVector3
Returns
- Return a new matrix from RTS - RLPy.RMatrix4
rotate = RLPy.RMatrix3( 1, 0, 0,
0, 1, 0,
0, 0, 1 )
translate = RLPy.RVector3( 1, 0, 0 )
scale = RLPy.RVector3( 2, 2, 2 )
matrix4_result = RLPy.RMatrix4().FromRTS( rotate, translate, scale )
row0 = matrix4_result.GetRow(0)
print(row0[0])
print(row0[1])
print(row0[2])
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
matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1,
1, 1,-1,-2,
1,-1,-1, 2,
1,-2, 1,-1 )
rotate = RLPy.RMatrix3()
translate = RLPy.RVector3()
scale = RLPy.RVector3()
matrix4_value.GetSimpleRTS( rotate, translate, scale )
row0 = rotate.GetRow(0)
print(row0[0])
print(row0[1])
print(row0[2])
print(translate[0])
print(translate[1])
print(translate[2])
print(scale[0])
print(scale[1])
print(scale[2])
GetSimpleRotate (self, rkRotate)
Retrieve rotation data from this 4x4 matrix.
Parameters
- rkRotate[IN] Rotation Matrix - RLPy.RMatrix3
Returns
matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1,
1, 1,-1,-2,
1,-1,-1, 2,
1,-2, 1,-1
rotate = RLPy.RMatrix3()
matrix4_value.GetSimpleRotate( rotate )
row0 = rotate.GetRow(0)
print(row0[0])
print(row0[1])
print(row0[2])
SetTranslateZero (self)
Set the translation data in this 4x4 matrix to 0.
matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1,
1, 1,-1,-2,
1,-1,-1, 2,
1,-2, 1,-1
matrix4_value.SetTranslateZero()
row3 = matrix4_value.GetRow(3)
print(row3[0] == 0)
print(row3[1] == 0)
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 - RLPy.RMatrix4
matrix4_orgin = RLPy.RMatrix4()
matrix4_orgin.MakeIdentity()
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 - RLPy.RMatrix4
matrix4_orgin = RLPy.RMatrix4()
matrix4_orgin.MakeIdentity()
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 - RLPy.RMatrix4
matrix4_orgin = RLPy.RMatrix4()
matrix4_orgin.MakeIdentity()
matrix4_orgin.RotationZ( 90 * RLPy.RMath.CONST_DEG_TO_RAD )
RotateAxisAngle (self, rkAxis, fAngle)
Rotation matrix from axis angle.
Parameters
- rkAxis[IN] axis vector - RLPy.RVector3
- fAngle[IN] angle in radians - float
Returns
- Return a new matrix from specified axis angle - RLPy.RMatrix4
matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1,
1, 1,-1,-2,
1,-1,-1, 2,
1,-2, 1,-1
x_axis_vector = RLPy.RVector3( 1, 0, 0 ) # axis = "X"
y_axis_vector = RLPy.RVector3( 0, 1, 0 ) # axis = "Y"
z_axis_vector = RLPy.RVector3( 0, 0, 1 ) # axis = "Z"
matrix4_value.RotateAxisAngle( x_axis_vector, 90 * RLPy.RMath.CONST_DEG_TO_RAD )
matrix4_value.RotateAxisAngle( y_axis_vector, 90 * RLPy.RMath.CONST_DEG_TO_RAD )
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.Rotation_Orderrx[IN] Angle of x-axis in radians - floatry[IN] Angle of y-axis in radians - floatrz[IN] Angle of z-axis in radians - float
Returns
- Return a new matrix from specified axis angle - RLPy.RMatrix4
euler_angle_x = 90 * RLPy.RMath.CONST_DEG_TO_RAD
euler_angle_y = 0
euler_angle_z = 0
matrix4_result = RLPy.RMatrix4().FromEulerAngle( RLPy.EEulerOrder_XYZ, euler_angle_x, euler_angle_y, euler_angle_z)
row0 = matrix4_result[0].GetRow(0)
print(row0[0])
print(row0[1])
print(row0[2])
print(row0[3])
SetSR (self, mSR)
Set scale and rotation part of the matrix。
Parameters
- mSR[IN] 3x3 matrix - RLPy.RMatrix3
Returns
- Return a new 4x4 matrix - RLPy.RMatrix4
matrix4_orgin = RLPy.RMatrix4()
matrix4_orgin.MakeIdentity()
matrix3_rotate_value = RLPy.RMatrix3( 1, 0, 0,
0, 1, 0,
0, 0, 1 )
matrix4_orgin.SetSR(matrix3_rotate_value)
GetSR (self)
Get scale and rotation part of the matrix。
Returns
- Return a 3x3 matrix - RLPy.RMatrix3
matrix4_value = RLPy.RMatrix4( 1, 2, 1, 1,
1, 1,-1,-2,
1,-1,-1, 2,
1,-2, 1,-1
result = matrix4_value.GetSR()
row0 = result.GetRow(0)
print(row0[0])
print(row0[1])
print(row0[2])
SetTranslate (self, vTranslate)
Set translate of the matrix。
Parameters
- vTranslate[IN] Translate vector - RLPy.RVector3
Returns
- Return a new matrix with the specified translation - RLPy.RMatrix4
matrix4_orgin = RLPy.RMatrix4()
matrix4_orgin.MakeIdentity()
matrix4_orgin.SetTranslate(RLPy.RVector3( 1, 2, 3 ) )
GetTranslate (self)
Get translate of the matrix。
Returns
- Return a translate vector - RLPy.RVector3
matrix4_orgin = RLPy.RMatrix4()
matrix4_orgin.MakeIdentity()
matrix4_orgin.SetTranslate(RLPy.RVector3( 1, 2, 3 ) )
result = matrix4_orgin.GetTranslate()
print(result[0] == 1)
print(result[1] == 2)
print(result[2] == 3)
AccuScale (self, rkScale)
Accumulate matrix with scale vector。
Parameters
- rkScale[IN] Scale vector - RLPy.RVector3
Returns
- Return a new matrix (*this) *= Accumulate - RLPy.RMatrix4
matrix4_orgin = RLPy.RMatrix4()
matrix4_orgin.MakeIdentity()
matrix4_orgin.AccuScale(RLPy.RVector3( 2, 2, 2 ) )
matrix4_orgin.AccuScale(RLPy.RVector3( 3, 3, 3 ) )
result = matrix4_orgin.GetSR()
row0 = result.GetRow(0)
print(row0[0] == 2*3)
row1 = result.GetRow(1)
print(row1[1] == 2*3)
row2 = result.GetRow(2)
print(row2[2] == 2*3)
AccuRotate (self, rkRotate)
Accumulate matrix with rotation matrix。
Parameters
- rkRotate[IN] Rotation matrix - RLPy.RMatrix3
Returns
- Return a new matrix (*this) *= Accumulate - RLPy.RMatrix4
matrix4_orgin = RLPy.RMatrix4()
matrix4_orgin.MakeIdentity()
matrix3_orgin = RLPy.RMatrix3()
matrix3_orgin.FromAxisAngle( RLPy.RVector3( 0, 1, 0 ), 90 * RLPy.RMath.CONST_DEG_TO_RAD )
matrix4_orgin.AccuRotate(matrix3_orgin)
matrix4_orgin.AccuRotate(matrix3_orgin)
rotate = RLPy.RMatrix3()
matrix4_orgin.GetSimpleRotate( rotate )
row0 = rotate.GetRow(0)
print(row0[0])
print(row0[1])
print(row0[2])
AccuTranslate (self, rkTranslate)
Accumulate matrix with translate vector。
Parameters
- rkTranslate[IN] Translate vector - RLPy.RVector3
Returns
- Return a new matrix (*this) *= Accumulate - RLPy.RMatrix4
matrix4_orgin = RLPy.RMatrix4()
matrix4_orgin.MakeIdentity()
matrix4_orgin.AccuTranslate(RLPy.RVector3( 1, 2, 3 ) )
matrix4_orgin.AccuTranslate(RLPy.RVector3( 2, 2, 2 ) )
row3 = matrix4_orgin.GetRow(3)
print(row3[0] == 1+2)
print(row3[1] == 2+2)
print(row3[2] == 2+3)