Files
create/src/Base/RotationPyImp.cpp
Ladislav Michl 8ba8c04b20 Base: remove explicit namespace-name qualifier from *PyImp.cpp
Explicit Base namespace-name is used randomly across PyImp sources.
Remove it.
2025-04-27 00:05:32 +02:00

782 lines
24 KiB
C++

/***************************************************************************
* Copyright (c) 2008 Werner Mayer <wmayer[at]users.sourceforge.net> *
* *
* This file is part of the FreeCAD CAx development system. *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Library General Public *
* License as published by the Free Software Foundation; either *
* version 2 of the License, or (at your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Library General Public License for more details. *
* *
* You should have received a copy of the GNU Library General Public *
* License along with this library; see the file COPYING.LIB. If not, *
* write to the Free Software Foundation, Inc., 59 Temple Place, *
* Suite 330, Boston, MA 02111-1307, USA *
* *
***************************************************************************/
#include "PreCompiled.h"
#include "GeometryPyCXX.h"
#include "PyWrapParseTupleAndKeywords.h"
#include "Tools.h"
// generated out of Rotation.pyi
#include "RotationPy.h"
#include "RotationPy.cpp"
#include "VectorPy.h"
using namespace Base;
// returns a string which represents the object e.g. when printed in python
std::string RotationPy::representation() const
{
RotationPy::PointerType ptr = getRotationPtr();
Py::Float q0(ptr->getValue()[0]);
Py::Float q1(ptr->getValue()[1]);
Py::Float q2(ptr->getValue()[2]);
Py::Float q3(ptr->getValue()[3]);
std::stringstream str;
str << "Rotation (";
str << static_cast<std::string>(q0.repr()) << ", " << static_cast<std::string>(q1.repr())
<< ", " << static_cast<std::string>(q2.repr()) << ", "
<< static_cast<std::string>(q3.repr());
str << ")";
return str.str();
}
PyObject* RotationPy::PyMake(PyTypeObject* /*unused*/, PyObject* /*unused*/, PyObject* /*unused*/)
{
// create a new instance of RotationPy and the Twin object
return new RotationPy(new Rotation);
}
// clang-format off
// constructor method
int RotationPy::PyInit(PyObject* args, PyObject* kwds)
{
PyObject* o {};
if (PyArg_ParseTuple(args, "")) {
return 0;
}
PyErr_Clear();
if (PyArg_ParseTuple(args, "O!", &(RotationPy::Type), &o)) {
Rotation* rot = static_cast<RotationPy*>(o)->getRotationPtr();
getRotationPtr()->setValue(rot->getValue());
return 0;
}
PyErr_Clear();
double angle {};
static const std::array<const char*, 3> kw_deg {"Axis", "Degree", nullptr};
if (Wrapped_ParseTupleAndKeywords(args,
kwds,
"O!d",
kw_deg,
&(VectorPy::Type),
&o,
&angle)) {
// NOTE: The last parameter defines the rotation angle in degree.
getRotationPtr()->setValue(static_cast<VectorPy*>(o)->value(),
toRadians<double>(angle));
return 0;
}
PyErr_Clear();
static const std::array<const char*, 3> kw_rad {"Axis", "Radian", nullptr};
if (Wrapped_ParseTupleAndKeywords(args,
kwds,
"O!d",
kw_rad,
&(VectorPy::Type),
&o,
&angle)) {
getRotationPtr()->setValue(static_cast<VectorPy*>(o)->value(), angle);
return 0;
}
PyErr_Clear();
if (PyArg_ParseTuple(args, "O!", &(MatrixPy::Type), &o)) {
try {
getRotationPtr()->setValue(static_cast<MatrixPy*>(o)->value());
return 0;
}
catch (const Exception& e) {
PyErr_SetString(e.getPyExceptionType(), e.what());
return -1;
}
}
PyErr_Clear();
double q0 {};
double q1 {};
double q2 {};
double q3 {};
if (PyArg_ParseTuple(args, "dddd", &q0, &q1, &q2, &q3)) {
getRotationPtr()->setValue(q0, q1, q2, q3);
return 0;
}
PyErr_Clear();
double y {};
double p {};
double r {};
if (PyArg_ParseTuple(args, "ddd", &y, &p, &r)) {
getRotationPtr()->setYawPitchRoll(y, p, r);
return 0;
}
PyErr_Clear();
const char* seq {};
double a {};
double b {};
double c {};
if (PyArg_ParseTuple(args, "sddd", &seq, &a, &b, &c)) {
PY_TRY
{
getRotationPtr()->setEulerAngles(Rotation::eulerSequenceFromName(seq), a, b, c);
return 0;
}
_PY_CATCH(return -1)
}
// NOLINTBEGIN
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;
// NOLINTEND
// 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)) {
try {
Matrix4D mtx(a11, a12, a13, a14,
a21, a22, a23, a24,
a31, a32, a33, a34,
a41, a42, a43, a44);
getRotationPtr()->setValue(mtx);
return 0;
}
catch (const Exception& e) {
PyErr_SetString(e.getPyExceptionType(), e.what());
return -1;
}
}
// try read a 3x3 matrix
PyErr_Clear();
if (PyArg_ParseTuple(args, "ddddddddd",
&a11, &a12, &a13,
&a21, &a22, &a23,
&a31, &a32, &a33)) {
try {
Matrix4D mtx(a11, a12, a13, a14,
a21, a22, a23, a24,
a31, a32, a33, a34,
a41, a42, a43, a44);
getRotationPtr()->setValue(mtx);
return 0;
}
catch (const Exception& e) {
PyErr_SetString(e.getPyExceptionType(), e.what());
return -1;
}
}
PyErr_Clear();
PyObject* v1 {};
PyObject* v2 {};
if (PyArg_ParseTuple(args,
"O!O!",
&(VectorPy::Type), &v1,
&(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 {};
const char* priority = nullptr;
if (PyArg_ParseTuple(args,
"O!O!O!|s",
&(VectorPy::Type), &v1,
&(VectorPy::Type), &v2,
&(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 (Exception& e) {
std::string str;
str += "FreeCAD exception thrown (";
str += e.what();
str += ")";
PyErr_SetString(PyExc_FC_GeneralError, str.c_str());
return -1;
}
return 0;
}
PyErr_SetString(PyExc_TypeError,
"Rotation constructor accepts:\n"
"-- empty parameter list\n"
"-- Rotation object\n"
"-- four floats (a quaternion)\n"
"-- three floats (yaw, pitch, roll)\n"
"-- 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;
}
// clang-format on
PyObject* RotationPy::richCompare(PyObject* v, PyObject* w, int op)
{
if (PyObject_TypeCheck(v, &(RotationPy::Type)) && PyObject_TypeCheck(w, &(RotationPy::Type))) {
Rotation r1 = *static_cast<RotationPy*>(v)->getRotationPtr();
Rotation r2 = *static_cast<RotationPy*>(w)->getRotationPtr();
PyObject* res = nullptr;
if (op != Py_EQ && op != Py_NE) {
PyErr_SetString(PyExc_TypeError, "no ordering relation is defined for Rotation");
return nullptr;
}
if (op == Py_EQ) {
res = (r1 == r2) ? Py_True : Py_False;
Py_INCREF(res);
return res;
}
res = (r1 != r2) ? Py_True : Py_False;
Py_INCREF(res);
return res;
}
// This always returns False
Py_INCREF(Py_NotImplemented);
return Py_NotImplemented;
}
PyObject* RotationPy::invert(PyObject* args)
{
if (!PyArg_ParseTuple(args, "")) {
return nullptr;
}
this->getRotationPtr()->invert();
Py_Return;
}
PyObject* RotationPy::inverted(PyObject* args) const
{
if (!PyArg_ParseTuple(args, "")) {
return nullptr;
}
Rotation mult = this->getRotationPtr()->inverse();
return new RotationPy(new Rotation(mult));
}
PyObject* RotationPy::multiply(PyObject* args) const
{
PyObject* rot {};
if (!PyArg_ParseTuple(args, "O!", &(RotationPy::Type), &rot)) {
return nullptr;
}
Rotation mult = (*getRotationPtr()) * (*static_cast<RotationPy*>(rot)->getRotationPtr());
return new RotationPy(new Rotation(mult));
}
PyObject* RotationPy::multVec(PyObject* args) const
{
PyObject* obj {};
if (!PyArg_ParseTuple(args, "O!", &(VectorPy::Type), &obj)) {
return nullptr;
}
Vector3d vec(static_cast<VectorPy*>(obj)->value());
getRotationPtr()->multVec(vec, vec);
return new VectorPy(new Vector3d(vec));
}
PyObject* RotationPy::slerp(PyObject* args) const
{
PyObject* rot {};
double t {};
if (!PyArg_ParseTuple(args, "O!d", &(RotationPy::Type), &rot, &t)) {
return nullptr;
}
Rotation* rot0 = this->getRotationPtr();
Rotation* rot1 = static_cast<RotationPy*>(rot)->getRotationPtr();
Rotation sl = Rotation::slerp(*rot0, *rot1, t);
return new RotationPy(new Rotation(sl));
}
PyObject* RotationPy::setYawPitchRoll(PyObject* args)
{
double A {};
double B {};
double C {};
if (!PyArg_ParseTuple(args, "ddd", &A, &B, &C)) {
return nullptr;
}
this->getRotationPtr()->setYawPitchRoll(A, B, C);
Py_Return;
}
PyObject* RotationPy::getYawPitchRoll(PyObject* args) const
{
if (!PyArg_ParseTuple(args, "")) {
return nullptr;
}
double A {};
double B {};
double C {};
this->getRotationPtr()->getYawPitchRoll(A, B, C);
Py::Tuple tuple(3);
tuple.setItem(0, Py::Float(A));
tuple.setItem(1, Py::Float(B));
tuple.setItem(2, Py::Float(C));
return Py::new_reference_to(tuple);
}
PyObject* RotationPy::setEulerAngles(PyObject* args)
{
const char* seq {};
double A {};
double B {};
double C {};
if (!PyArg_ParseTuple(args, "sddd", &seq, &A, &B, &C)) {
return nullptr;
}
try {
getRotationPtr()->setEulerAngles(Rotation::eulerSequenceFromName(seq), A, B, C);
Py_Return;
}
catch (const Exception& e) {
e.setPyException();
return nullptr;
}
}
PyObject* RotationPy::toEulerAngles(PyObject* args) const
{
const char* seq = nullptr;
if (!PyArg_ParseTuple(args, "|s", &seq)) {
return nullptr;
}
if (!seq) {
Py::List res;
for (int i = 1; i < Rotation::EulerSequenceLast; ++i) {
res.append(Py::String(Rotation::eulerSequenceName((Rotation::EulerSequence)i)));
}
return Py::new_reference_to(res);
}
PY_TRY
{
double A {};
double B {};
double C {};
this->getRotationPtr()->getEulerAngles(Rotation::eulerSequenceFromName(seq), A, B, C);
Py::Tuple tuple(3);
tuple.setItem(0, Py::Float(A));
tuple.setItem(1, Py::Float(B));
tuple.setItem(2, Py::Float(C));
return Py::new_reference_to(tuple);
}
PY_CATCH
}
PyObject* RotationPy::toMatrix(PyObject* args) const
{
if (!PyArg_ParseTuple(args, "")) {
return nullptr;
}
Matrix4D mat;
getRotationPtr()->getValue(mat);
return new MatrixPy(new Matrix4D(mat));
}
PyObject* RotationPy::isSame(PyObject* args)
{
PyObject* rot {};
double tol = 0.0;
if (!PyArg_ParseTuple(args, "O!|d", &(RotationPy::Type), &rot, &tol)) {
return nullptr;
}
Rotation rot1 = *getRotationPtr();
Rotation rot2 = *static_cast<RotationPy*>(rot)->getRotationPtr();
bool same = tol > 0.0 ? rot1.isSame(rot2, tol) : rot1.isSame(rot2);
return Py_BuildValue("O", (same ? Py_True : Py_False));
}
PyObject* RotationPy::isIdentity(PyObject* args) const
{
double tol = 0.0;
if (!PyArg_ParseTuple(args, "|d", &tol)) {
return nullptr;
}
bool null = tol > 0.0 ? getRotationPtr()->isIdentity(tol) : getRotationPtr()->isIdentity();
return Py_BuildValue("O", (null ? Py_True : Py_False));
}
PyObject* RotationPy::isNull(PyObject* args) const
{
if (!PyArg_ParseTuple(args, "")) {
return nullptr;
}
bool null = getRotationPtr()->isNull();
return Py_BuildValue("O", (null ? Py_True : Py_False));
}
Py::Tuple RotationPy::getQ() const
{
double q0 {};
double q1 {};
double q2 {};
double q3 {};
this->getRotationPtr()->getValue(q0, q1, q2, q3);
Py::Tuple tuple(4);
tuple.setItem(0, Py::Float(q0));
tuple.setItem(1, Py::Float(q1));
tuple.setItem(2, Py::Float(q2));
tuple.setItem(3, Py::Float(q3));
return tuple;
}
void RotationPy::setQ(Py::Tuple arg)
{
double q0 = static_cast<double>(Py::Float(arg.getItem(0)));
double q1 = static_cast<double>(Py::Float(arg.getItem(1)));
double q2 = static_cast<double>(Py::Float(arg.getItem(2)));
double q3 = static_cast<double>(Py::Float(arg.getItem(3)));
this->getRotationPtr()->setValue(q0, q1, q2, q3);
}
Py::Object RotationPy::getRawAxis() const
{
Vector3d axis;
double angle {};
this->getRotationPtr()->getRawValue(axis, angle);
return Py::Vector(axis); // NOLINT
}
Py::Object RotationPy::getAxis() const
{
Vector3d axis;
double angle {};
this->getRotationPtr()->getValue(axis, angle);
return Py::Vector(axis); // NOLINT
}
void RotationPy::setAxis(Py::Object arg)
{
Vector3d axis;
double angle {};
this->getRotationPtr()->getValue(axis, angle);
axis = Py::Vector(arg).toVector();
this->getRotationPtr()->setValue(axis, angle);
}
Py::Float RotationPy::getAngle() const
{
Vector3d axis;
double angle {};
this->getRotationPtr()->getValue(axis, angle);
return Py::Float(angle);
}
void RotationPy::setAngle(Py::Float arg)
{
Vector3d axis;
double angle {};
this->getRotationPtr()->getRawValue(axis, angle);
angle = static_cast<double>(arg);
this->getRotationPtr()->setValue(axis, angle);
}
PyObject* RotationPy::getCustomAttributes(const char* attr) const
{
if (strcmp(attr, "Matrix") == 0) {
Matrix4D mat;
this->getRotationPtr()->getValue(mat);
return new MatrixPy(mat);
}
if (strcmp(attr, "Yaw") == 0) {
double A {};
double B {};
double C {};
this->getRotationPtr()->getYawPitchRoll(A, B, C);
return PyFloat_FromDouble(A);
}
if (strcmp(attr, "Pitch") == 0) {
double A {};
double B {};
double C {};
this->getRotationPtr()->getYawPitchRoll(A, B, C);
return PyFloat_FromDouble(B);
}
if (strcmp(attr, "Roll") == 0) {
double A {};
double B {};
double C {};
this->getRotationPtr()->getYawPitchRoll(A, B, C);
return PyFloat_FromDouble(C);
}
if (strcmp(attr, "toEuler") == 0) {
// NOLINTNEXTLINE(cppcoreguidelines-pro-type-const-cast)
Py::Object self(const_cast<RotationPy*>(this), false);
return Py::new_reference_to(self.getAttr("getYawPitchRoll"));
}
return nullptr;
}
int RotationPy::setCustomAttributes(const char* attr, PyObject* obj)
{
if (strcmp(attr, "Matrix") == 0) {
if (PyObject_TypeCheck(obj, &(MatrixPy::Type))) {
try {
this->getRotationPtr()->setValue(*static_cast<MatrixPy*>(obj)->getMatrixPtr());
return 1;
}
catch (const Exception& e) {
PyErr_SetString(e.getPyExceptionType(), e.what());
return -1;
}
}
}
else if (strcmp(attr, "Axes") == 0) {
if (PySequence_Check(obj)) {
Py::Sequence sequence(obj);
if (sequence.size() == 2) {
Py::Object vec1 = sequence.getItem(0);
Py::Object vec2 = sequence.getItem(1);
if (PyObject_TypeCheck(vec1.ptr(), &(VectorPy::Type))
&& PyObject_TypeCheck(vec2.ptr(), &(VectorPy::Type))) {
Vector3d* pt1 = static_cast<VectorPy*>(vec1.ptr())->getVectorPtr();
Vector3d* pt2 = static_cast<VectorPy*>(vec2.ptr())->getVectorPtr();
this->getRotationPtr()->setValue(*pt1, *pt2);
return 1;
}
}
}
}
else if (strcmp(attr, "Yaw") == 0) {
if (PyNumber_Check(obj)) {
double V = PyFloat_AsDouble(obj);
double A {};
double B {};
double C {};
this->getRotationPtr()->getYawPitchRoll(A, B, C);
this->getRotationPtr()->setYawPitchRoll(V, B, C);
return 1;
}
}
else if (strcmp(attr, "Pitch") == 0) {
if (PyNumber_Check(obj)) {
double V = PyFloat_AsDouble(obj);
double A {};
double B {};
double C {};
this->getRotationPtr()->getYawPitchRoll(A, B, C);
this->getRotationPtr()->setYawPitchRoll(A, V, C);
return 1;
}
}
else if (strcmp(attr, "Roll") == 0) {
if (PyNumber_Check(obj)) {
double V = PyFloat_AsDouble(obj);
double A {};
double B {};
double C {};
this->getRotationPtr()->getYawPitchRoll(A, B, C);
this->getRotationPtr()->setYawPitchRoll(A, B, V);
return 1;
}
}
return 0;
}
PyObject* RotationPy::number_multiply_handler(PyObject* self, PyObject* other)
{
if (PyObject_TypeCheck(self, &(RotationPy::Type))) {
auto a = static_cast<RotationPy*>(self)->value();
if (PyObject_TypeCheck(other, &(VectorPy::Type))) {
Vector3d res;
a.multVec(static_cast<VectorPy*>(other)->value(), res);
return new VectorPy(res);
}
if (PyObject_TypeCheck(other, &(PlacementPy::Type))) {
const auto& b = static_cast<PlacementPy*>(other)->value();
return new PlacementPy(Placement(Vector3d(), a) * b);
}
if (PyObject_TypeCheck(other, &(RotationPy::Type))) {
const auto& b = static_cast<RotationPy*>(other)->value();
return new RotationPy(a * b);
}
if (PyObject_TypeCheck(other, &(MatrixPy::Type))) {
const auto& b = static_cast<MatrixPy*>(other)->value();
Matrix4D mat;
a.getValue(mat);
return new MatrixPy(mat * b);
}
}
PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
return nullptr;
}
PyObject* RotationPy::number_power_handler(PyObject* self, PyObject* other, PyObject* arg)
{
if (!PyObject_TypeCheck(self, &(RotationPy::Type)) || !PyLong_Check(other) || arg != Py_None) {
PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
return nullptr;
}
Rotation a = static_cast<RotationPy*>(self)->value();
long b = Py::Long(other);
Vector3d axis;
double rfAngle {};
a.getRawValue(axis, rfAngle);
rfAngle *= double(b);
a.setValue(axis, rfAngle);
return new RotationPy(a);
}
PyObject* RotationPy::number_add_handler(PyObject* /*self*/, PyObject* /*other*/)
{
PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
return nullptr;
}
PyObject* RotationPy::number_subtract_handler(PyObject* /*self*/, PyObject* /*other*/)
{
PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
return nullptr;
}
PyObject* RotationPy::number_divide_handler(PyObject* /*self*/, PyObject* /*other*/)
{
PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
return nullptr;
}
PyObject* RotationPy::number_remainder_handler(PyObject* /*self*/, PyObject* /*other*/)
{
PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
return nullptr;
}
PyObject* RotationPy::number_divmod_handler(PyObject* /*self*/, PyObject* /*other*/)
{
PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
return nullptr;
}
PyObject* RotationPy::number_negative_handler(PyObject* /*self*/)
{
PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
return nullptr;
}
PyObject* RotationPy::number_positive_handler(PyObject* /*self*/)
{
PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
return nullptr;
}
PyObject* RotationPy::number_absolute_handler(PyObject* /*self*/)
{
PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
return nullptr;
}
int RotationPy::number_nonzero_handler(PyObject* /*self*/)
{
return 1;
}
PyObject* RotationPy::number_invert_handler(PyObject* /*self*/)
{
PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
return nullptr;
}
PyObject* RotationPy::number_lshift_handler(PyObject* /*self*/, PyObject* /*other*/)
{
PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
return nullptr;
}
PyObject* RotationPy::number_rshift_handler(PyObject* /*self*/, PyObject* /*other*/)
{
PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
return nullptr;
}
PyObject* RotationPy::number_and_handler(PyObject* /*self*/, PyObject* /*other*/)
{
PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
return nullptr;
}
PyObject* RotationPy::number_xor_handler(PyObject* /*self*/, PyObject* /*other*/)
{
PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
return nullptr;
}
PyObject* RotationPy::number_or_handler(PyObject* /*self*/, PyObject* /*other*/)
{
PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
return nullptr;
}
PyObject* RotationPy::number_int_handler(PyObject* /*self*/)
{
PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
return nullptr;
}
PyObject* RotationPy::number_float_handler(PyObject* /*self*/)
{
PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
return nullptr;
}