// constructor method
int RotationPy::PyInit(PyObject* args, PyObject* /*kwd*/)
{
PyObject* o;
if (PyArg_ParseTuple(args, "")) {
return 0;
}
PyErr_Clear();
if (PyArg_ParseTuple(args, "O!", &(Base::RotationPy::Type), &o)) {
Base::Rotation *rot = static_cast<Base::RotationPy*>(o)->getRotationPtr();
getRotationPtr()->setValue(rot->getValue());
return 0;
}
PyErr_Clear();
double angle;
if (PyArg_ParseTuple(args, "O!d", &(Base::VectorPy::Type), &o, &angle)) {
// NOTE: The last parameter defines the rotation angle in degree.
getRotationPtr()->setValue(static_cast<Base::VectorPy*>(o)->value(), Base::toRadians<double>(angle));
return 0;
}
PyErr_Clear();
double q0, q1, q2, q3;
if (PyArg_ParseTuple(args, "dddd", &q0, &q1, &q2, &q3)) {
getRotationPtr()->setValue(q0, q1, q2, q3);
return 0;
}
PyErr_Clear();
double y, p, r;
if (PyArg_ParseTuple(args, "ddd", &y, &p, &r)) {
getRotationPtr()->setYawPitchRoll(y, p, r);
return 0;
}
PyErr_Clear();
PyObject *v1, *v2;
if (PyArg_ParseTuple(args, "O!O!", &(Base::VectorPy::Type), &v1,
&(Base::VectorPy::Type), &v2)) {
Py::Vector from(v1, false);
Py::Vector to(v2, false);
getRotationPtr()->setValue(from.toVector(), to.toVector());
return 0;
}
PyErr_SetString(PyExc_Exception, "empty parameter list, four floats or Vector and float");
return -1;
}
void ComplexGeoData::applyRotation(const Base::Rotation& rot)
{
Base::Matrix4D mat;
rot.getValue(mat);
setTransform(mat * getTransform());
}
// constructor method
int RotationPy::PyInit(PyObject* args, PyObject* /*kwd*/)
{
PyObject* o;
if (PyArg_ParseTuple(args, "")) {
return 0;
}
PyErr_Clear();
if (PyArg_ParseTuple(args, "O!", &(Base::RotationPy::Type), &o)) {
Base::Rotation *rot = static_cast<Base::RotationPy*>(o)->getRotationPtr();
getRotationPtr()->setValue(rot->getValue());
return 0;
}
PyErr_Clear();
double angle;
if (PyArg_ParseTuple(args, "O!d", &(Base::VectorPy::Type), &o, &angle)) {
// NOTE: The last parameter defines the rotation angle in degree.
getRotationPtr()->setValue(static_cast<Base::VectorPy*>(o)->value(), Base::toRadians<double>(angle));
return 0;
}
PyErr_Clear();
if (PyArg_ParseTuple(args, "O!d", &(Base::MatrixPy::Type), &o, &angle)) {
// NOTE: The last parameter defines the rotation angle in degree.
getRotationPtr()->setValue(static_cast<Base::MatrixPy*>(o)->value());
return 0;
}
PyErr_Clear();
double q0, q1, q2, q3;
if (PyArg_ParseTuple(args, "dddd", &q0, &q1, &q2, &q3)) {
getRotationPtr()->setValue(q0, q1, q2, q3);
return 0;
}
PyErr_Clear();
double y, p, r;
if (PyArg_ParseTuple(args, "ddd", &y, &p, &r)) {
getRotationPtr()->setYawPitchRoll(y, p, r);
return 0;
}
double a11 = 1.0, a12 = 0.0, a13 = 0.0, a14 = 0.0;
double a21 = 0.0, a22 = 1.0, a23 = 0.0, a24 = 0.0;
double a31 = 0.0, a32 = 0.0, a33 = 1.0, a34 = 0.0;
double a41 = 0.0, a42 = 0.0, a43 = 0.0, a44 = 1.0;
// try read a 4x4 matrix
PyErr_Clear();
if (PyArg_ParseTuple(args, "dddddddddddddddd",
&a11, &a12, &a13, &a14,
&a21, &a22, &a23, &a24,
&a31, &a32, &a33, &a34,
&a41, &a42, &a43, &a44))
{
Matrix4D mtx(a11, a12, a13, a14,
a21, a22, a23, a24,
a31, a32, a33, a34,
a41, a42, a43, a44);
getRotationPtr()->setValue(mtx);
return 0;
}
// try read a 3x3 matrix
PyErr_Clear();
if (PyArg_ParseTuple(args, "ddddddddd",
&a11, &a12, &a13,
&a21, &a22, &a23,
&a31, &a32, &a33))
{
Matrix4D mtx(a11, a12, a13, a14,
a21, a22, a23, a24,
a31, a32, a33, a34,
a41, a42, a43, a44);
getRotationPtr()->setValue(mtx);
return 0;
}
PyErr_Clear();
PyObject *v1, *v2;
if (PyArg_ParseTuple(args, "O!O!", &(Base::VectorPy::Type), &v1,
&(Base::VectorPy::Type), &v2)) {
Py::Vector from(v1, false);
Py::Vector to(v2, false);
getRotationPtr()->setValue(from.toVector(), to.toVector());
return 0;
}
PyErr_Clear();
PyObject *v3;
char *priority = nullptr;
if (PyArg_ParseTuple(args, "O!O!O!|s", &(Base::VectorPy::Type), &v1,
&(Base::VectorPy::Type), &v2,
&(Base::VectorPy::Type), &v3,
&priority )) {
Py::Vector xdir(v1, false);
Py::Vector ydir(v2, false);
Py::Vector zdir(v3, false);
if (!priority)
priority = "ZXY";
try {
*getRotationPtr() = (Rotation::makeRotationByAxes(xdir.toVector(), ydir.toVector(), zdir.toVector(), priority));
} catch(Base::Exception &e) {
std::string str;
str += "FreeCAD exception thrown (";
str += e.what();
str += ")";
PyErr_SetString(Base::BaseExceptionFreeCADError,str.c_str());
return -1;
}
return 0;
}
PyErr_SetString(PyExc_TypeError, "Rotation constructor accepts:\n"
"-- empty parameter list\n"
"-- Rotation object"
"-- four floats (a quaternion)\n"
"-- three floats (yaw, pitch, roll)"
"-- Vector (rotation axis) and float (rotation angle)\n"
"-- two Vectors (two axes)\n"
"-- Matrix object\n"
"-- 16 floats (4x4 matrix)\n"
"-- 9 floats (3x3 matrix)\n"
"-- 3 vectors + optional string"
);
return -1;
}
