init_code

pygarment/pattern/rotation.py

@@ -0,0 +1,62 @@
+"""
+    Simple Rotation Conversion routines (Maya-Python2.7-Compatible!!)
+"""
+import numpy as np
+import math as m
+import sys
+
+# TODO: Maya python 2.7 is long gone.
+# Can be substituted with scipy rotation transformation routines for Maya2022+
+
+
+# Thanks to https://www.meccanismocomplesso.org/en/3d-rotations-and-euler-angles-in-python/ for the code
+def _Rx(theta):
+    return np.matrix([
+        [1, 0           , 0           ],
+        [0, m.cos(theta), -m.sin(theta)],
+        [0, m.sin(theta), m.cos(theta)]])
+
+
+def _Ry(theta):
+    return np.matrix([
+        [m.cos(theta), 0, m.sin(theta)],
+        [0           , 1, 0           ],
+        [-m.sin(theta), 0, m.cos(theta)]])
+
+
+def _Rz(theta):
+    return np.matrix([
+        [m.cos(theta), -m.sin(theta), 0],
+        [m.sin(theta), m.cos(theta) , 0],
+        [0           , 0            , 1]])
+
+
+def euler_xyz_to_R(euler):
+    """Convert to Rotation matrix.
+        Expects input in degrees.
+        Only support Maya convension of intrinsic xyz Euler Angles
+    """
+    return _Rz(np.deg2rad(euler[2])) * _Ry(np.deg2rad(euler[1])) * _Rx(np.deg2rad(euler[0]))
+
+
+def R_to_euler(R):
+    """
+        Convert Rotation matrix to Euler-angles in degrees (in Maya convension of intrinsic xyz Euler Angles)
+        NOTE: 
+            Routine produces one of the possible Euler angles, corresponding to input rotations (the Euler angles are not uniquely defined)
+    """
+    tol = sys.float_info.epsilon * 10
+  
+    if abs(R[0, 0]) < tol and abs(R[1, 0]) < tol:
+        eul1 = 0
+        eul2 = m.atan2(-R[2, 0], R[0, 0])
+        eul3 = m.atan2(-R[1, 2], R[1, 1])
+    else:   
+        eul1 = m.atan2(R[1, 0], R[0, 0])
+        sp = m.sin(eul1)
+        cp = m.cos(eul1)
+        eul2 = m.atan2(-R[2, 0], cp * R[0, 0] + sp * R[1, 0])
+        eul3 = m.atan2(sp * R[0, 2] - cp * R[1, 2], cp * R[1, 1] - sp * R[0, 1])
+    
+    return [np.rad2deg(eul3), np.rad2deg(eul2), np.rad2deg(eul1)]
+