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#
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# This file is part of Magnum.
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#
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# Copyright © 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018, 2019
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# Vladimír Vondruš <mosra@centrum.cz>
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#
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# Permission is hereby granted, free of charge, to any person obtaining a
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# copy of this software and associated documentation files (the "Software"),
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# to deal in the Software without restriction, including without limitation
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# the rights to use, copy, modify, merge, publish, distribute, sublicense,
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# and/or sell copies of the Software, and to permit persons to whom the
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# Software is furnished to do so, subject to the following conditions:
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#
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# The above copyright notice and this permission notice shall be included
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# in all copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
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# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
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# DEALINGS IN THE SOFTWARE.
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#
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import unittest
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from magnum import *
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from magnum import scenegraph
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from magnum.scenegraph.matrix import Object3D, Scene3D
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try:
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import numpy as np
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except ModuleNotFoundError:
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raise unittest.SkipTest("numpy not installed")
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class Object(unittest.TestCase):
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def test_transformation(self):
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scene = Scene3D()
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a = Object3D(scene)
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# like a.rotate_local(Deg(35.0), Vector3.x_axis()), but way uglier,
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# another could be scipy.spatial.transform.Rotation but that's meh as
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# well
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a.transform_local(np.array(
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[[1.0, 0.0, 0.0, 0.0],
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[0.0, 0.819152, -0.573576, 0.0],
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[0.0, 0.573576, 0.819152, 0.0],
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[0.0, 0.0, 0.0, 1.0]]))
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self.assertEqual(a.transformation, Matrix4.rotation_x(Deg(35.0)))
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self.assertEqual(a.absolute_transformation(), Matrix4.rotation_x(Deg(35.0)))
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b = Object3D(a)
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b.translate(np.array([3.0, 4.0, 5.0], dtype='float32'))
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self.assertEqual(b.transformation, Matrix4.translation((3.0, 4.0, 5.0)))
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self.assertEqual(b.absolute_transformation(),
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Matrix4.rotation_x(Deg(35.0))@
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Matrix4.translation((3.0, 4.0, 5.0)))
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c = Object3D(scene)
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self.assertEqual(c.transformation, Matrix4.identity_init())
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self.assertEqual(c.absolute_transformation(), Matrix4.identity_init())
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