7 def radian_to_degree(x):
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8 """darian to deglee"""
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10 return x/math.pi * 180.0
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16 class Vector2(object):
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18 2D coordinate for uv value
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20 __slots__=['x', 'y']
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21 def __init__(self, x=0, y=0):
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26 return "<%f %f>" % (self.x, self.y)
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28 def __getitem__(self, key):
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37 return (self.x, self.y)
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40 class Vector3(object):
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42 3D coordinate for vertex position, normal direction
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44 __slots__=['x', 'y', 'z']
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45 def __init__(self, x=0, y=0, z=0):
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51 return "<%f %f %f>" % (self.x, self.y, self.z)
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53 def __getitem__(self, key):
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64 return (self.x, self.y, self.z)
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67 return Vector3(l.x+r.x, l.y+r.y, l.z+r.z)
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70 class Quaternion(object):
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72 rotation representation in vmd motion
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74 __slots__=['x', 'y', 'z', 'w']
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75 def __init__(self, x=0, y=0, z=0, w=1):
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82 return "<%f %f %f %f>" % (self.x, self.y, self.z, self.w)
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84 def __mul__(self, rhs):
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85 u=numpy.array([self.x, self.y, self.z], 'f')
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86 v=numpy.array([rhs.x, rhs.y, rhs.z], 'f')
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87 xyz=self.w*v+rhs.w*u+numpy.cross(u, v)
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88 q=Quaternion(xyz[0], xyz[1], xyz[2], self.w*rhs.w-numpy.dot(u, v))
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92 return self.x*rhs.x+self.y*rhs.y+self.z*rhs.z+self.w*rhs.w
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94 def getMatrix(self):
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104 return numpy.array([
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106 [1-2*sqY-2*sqZ, 2*xy+2*wz, 2*xz-2*wy, 0],
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108 [2*xy-2*wz, 1-2*sqX-2*sqZ, 2*yz+2*wx, 0],
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110 [2*xz+2*wy, 2*yz-2*wx, 1-2*sqX-2*sqY, 0],
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115 def getRHMatrix(self):
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129 return numpy.array([
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131 [1-2*sqY-2*sqZ, 2*xy+2*wz, 2*xz-2*wy, 0],
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133 [2*xy-2*wz, 1-2*sqX-2*sqZ, 2*yz+2*wx, 0],
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135 [2*xz+2*wy, 2*yz-2*wx, 1-2*sqX-2*sqY, 0],
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140 def getRollPitchYaw(self):
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143 roll = math.atan2(m[0, 1], m[1, 1])
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144 pitch = math.asin(-m[2, 1])
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145 yaw = math.atan2(m[2, 0], m[2, 2])
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147 if math.fabs(math.cos(pitch)) < 1.0e-6:
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148 roll += m[0, 1] > math.pi if 0.0 else -math.pi
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149 yaw += m[2, 0] > math.pi if 0.0 else -math.pi
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151 return roll, pitch, yaw
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153 def getSqNorm(self):
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154 return self.x*self.x+self.y*self.y+self.z*self.z+self.w*self.w
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156 def getNormalized(self):
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157 f=1.0/self.getSqNorm()
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158 q=Quaternion(self.x*f, self.y*f, self.z*f, self.w*f)
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161 def getRightHanded(self):
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162 "swap y and z axis"
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163 return Quaternion(-self.x, -self.z, -self.y, self.w)
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166 def createFromAxisAngle(axis, rad):
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169 c=math.cos(half_rad)
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170 s=math.sin(half_rad)
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171 return Quaternion(axis[0]*s, axis[1]*s, axis[2]*s, c)
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178 __slots__=['r', 'g', 'b']
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179 def __init__(self, r=0, g=0, b=0):
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184 def __getitem__(self, key):
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195 class RGBA(object):
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199 __slots__=['r', 'g', 'b', 'a']
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200 def __init__(self, r=0, g=0, b=0, a=1):
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206 def __getitem__(self, key):
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