12 class Vector2(object):
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14 2D coordinate for uv value
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16 __slots__=['x', 'y']
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17 def __init__(self, x=0, y=0):
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22 return "<%f %f>" % (self.x, self.y)
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24 def __getitem__(self, key):
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33 return (self.x, self.y)
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36 class Vector3(object):
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38 3D coordinate for vertex position, normal direction
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40 __slots__=['x', 'y', 'z']
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41 def __init__(self, x=0, y=0, z=0):
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47 return "<%f %f %f>" % (self.x, self.y, self.z)
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49 def __getitem__(self, key):
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60 return (self.x, self.y, self.z)
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63 return Vector3(l.x+r.x, l.y+r.y, l.z+r.z)
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66 class Quaternion(object):
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68 rotation representation in vmd motion
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70 __slots__=['x', 'y', 'z', 'w']
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71 def __init__(self, x=0, y=0, z=0, w=1):
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78 return "<%f %f %f %f>" % (self.x, self.y, self.z, self.w)
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80 def __mul__(self, rhs):
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81 u=numpy.array([self.x, self.y, self.z], 'f')
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82 v=numpy.array([rhs.x, rhs.y, rhs.z], 'f')
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83 xyz=self.w*v+rhs.w*u+numpy.cross(u, v)
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84 q=Quaternion(xyz[0], xyz[1], xyz[2], self.w*rhs.w-numpy.dot(u, v))
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88 return self.x*rhs.x+self.y*rhs.y+self.z*rhs.z+self.w*rhs.w
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90 def getMatrix(self):
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100 return numpy.array([
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102 [1-2*sqY-2*sqZ, 2*xy+2*wz, 2*xz-2*wy, 0],
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104 [2*xy-2*wz, 1-2*sqX-2*sqZ, 2*yz+2*wx, 0],
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106 [2*xz+2*wy, 2*yz-2*wx, 1-2*sqX-2*sqY, 0],
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111 def getRHMatrix(self):
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125 return numpy.array([
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127 [1-2*sqY-2*sqZ, 2*xy+2*wz, 2*xz-2*wy, 0],
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129 [2*xy-2*wz, 1-2*sqX-2*sqZ, 2*yz+2*wx, 0],
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131 [2*xz+2*wy, 2*yz-2*wx, 1-2*sqX-2*sqY, 0],
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136 def getRollPitchYaw(self):
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139 roll = math.atan2(m[0, 1], m[1, 1])
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140 pitch = math.asin(-m[2, 1])
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141 yaw = math.atan2(m[2, 0], m[2, 2])
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143 if math.fabs(math.cos(pitch)) < 1.0e-6:
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144 roll += m[0, 1] > math.pi if 0.0 else -math.pi
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145 yaw += m[2, 0] > math.pi if 0.0 else -math.pi
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147 return roll, pitch, yaw
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149 def getSqNorm(self):
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150 return self.x*self.x+self.y*self.y+self.z*self.z+self.w*self.w
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152 def getNormalized(self):
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153 f=1.0/self.getSqNorm()
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154 q=Quaternion(self.x*f, self.y*f, self.z*f, self.w*f)
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157 def getRightHanded(self):
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158 "swap y and z axis"
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159 return Quaternion(-self.x, -self.z, -self.y, self.w)
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162 def createFromAxisAngle(axis, rad):
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165 c=math.cos(half_rad)
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166 s=math.sin(half_rad)
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167 return Quaternion(axis[0]*s, axis[1]*s, axis[2]*s, c)
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174 __slots__=['r', 'g', 'b']
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175 def __init__(self, r=0, g=0, b=0):
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180 def __getitem__(self, key):
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191 class RGBA(object):
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195 __slots__=['r', 'g', 'b', 'a']
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196 def __init__(self, r=0, g=0, b=0, a=1):
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202 def __getitem__(self, key):
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218 def radian_to_degree(x):
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219 """darian to deglee"""
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221 return x/math.pi * 180.0
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224 class ParseException(Exception):
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228 def readall(path: str) -> bytes:
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229 with open(path, "rb") as f:
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233 class BinaryLoader(object):
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234 def __init__(self, io):
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237 def unpack(self, fmt: str, size: int) -> "read value as format":
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238 result=struct.unpack(fmt, self.io.read(size))
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241 def read_uint(self, size):
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243 return self.unpack("B", size)
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245 return self.unpack("H", size)
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247 return self.unpack("I", size)
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248 print("not reach here")
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249 raise ParseException("invalid int size: "+size)
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251 def read_float(self):
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252 return self.unpack("f", 4)
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254 def read_vector2(self):
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256 self.read_float(),
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260 def read_vector3(self):
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262 self.read_float(),
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263 self.read_float(),
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267 def read_rgba(self):
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269 self.read_float(),
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270 self.read_float(),
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275 def read_rgb(self):
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277 self.read_float(),
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278 self.read_float(),
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