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26 lines
658 B
Python
26 lines
658 B
Python
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import numpy as np
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def a2p(o, z, x):
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y = np.cross(z, x)
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r = np.eye(4)
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r[:-1, :-1] = x, y, z
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r[-1, :-1] = o
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return r.T
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def get_axis2placement(plc):
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z = np.array(plc.Axis.DirectionRatios if plc.Axis else (0, 0, 1))
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x = np.array(plc.RefDirection.DirectionRatios if plc.RefDirection else (1, 0, 0))
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o = plc.Location.Coordinates
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return a2p(o, z, x)
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def get_local_placement(plc):
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if plc is None:
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return np.eye(4)
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if plc.PlacementRelTo is None:
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parent = np.eye(4)
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else:
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parent = get_local_placement(plc.PlacementRelTo)
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return np.dot(get_axis2placement(plc.RelativePlacement), parent)
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