segments.py 文件源码

def getTransformFromParent(self):
        alphaMatrix = Euler((radians(self.alpha.value), 0, 0),
                            'XYZ').to_matrix()
        alphaMatrix.resize_4x4()

        thetaMatrix = Euler((0, 0, radians(self.theta.value)),
                            'XYZ').to_matrix()
        thetaMatrix.resize_4x4()

        translation = Matrix.Translation((self.a.value, 0, self.d.value, 1))

        return translation * alphaMatrix * thetaMatrix