jnt1.py 文件源码

def create_matrix(self,parent_joint,parent_joint_matrix):
        # The calculation of the local matrix is an optimized version of
        # local_matrix = T*IPS*R*S if ignore_parent_scale else T*R*S
        # where S, R and T is the scale, rotation and translation matrix
        # respectively and IPS is the inverse parent scale matrix.

        cx = cos(radians(self.rotation_x))
        sx = sin(radians(self.rotation_x))
        cy = cos(radians(self.rotation_y))
        sy = sin(radians(self.rotation_y))
        cz = cos(radians(self.rotation_z))
        sz = sin(radians(self.rotation_z))

        if self.ignore_parent_scale:
            ips_x = 1/parent_joint.scale_x
            ips_y = 1/parent_joint.scale_y
            ips_z = 1/parent_joint.scale_z
        else:
            ips_x = 1
            ips_y = 1
            ips_z = 1

        local_matrix = numpy.empty((3,4),numpy.float32)
        local_matrix[0,0] = cy*cz*self.scale_x*ips_x
        local_matrix[1,0] = cy*sz*self.scale_x*ips_y
        local_matrix[2,0] = -sy*self.scale_x*ips_z
        local_matrix[0,1] = (sx*sy*cz - cx*sz)*self.scale_y*ips_x
        local_matrix[1,1] = (sx*sy*sz + cx*cz)*self.scale_y*ips_y
        local_matrix[2,1] = sx*cy*self.scale_y*ips_z
        local_matrix[0,2] = (cx*sy*cz + sx*sz)*self.scale_z*ips_x
        local_matrix[1,2] = (cx*sy*sz - sx*cz)*self.scale_z*ips_y
        local_matrix[2,2] = cx*cy*self.scale_z*ips_z
        local_matrix[0,3] = self.translation_x
        local_matrix[1,3] = self.translation_y
        local_matrix[2,3] = self.translation_z

        return matrix3x4_multiply(parent_joint_matrix,local_matrix)