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@@ -8,8 +8,9 @@ import os
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import ctypes
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from ctypes import POINTER
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import operator
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-import numpy
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-from numpy import linalg
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+
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+try: import numpy
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+except: numpy = None
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import logging;logger = logging.getLogger("pyassimp")
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@@ -45,20 +46,88 @@ def vec2tuple(x):
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def transform(vector3, matrix4x4):
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""" Apply a transformation matrix on a 3D vector.
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- :param vector3: a numpy array with 3 elements
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- :param matrix4x4: a numpy 4x4 matrix
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+ :param vector3: array with 3 elements
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+ :param matrix4x4: 4x4 matrix
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"""
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- return numpy.dot(matrix4x4, numpy.append(vector3, 1.))
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-
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+ if numpy:
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+ return numpy.dot(matrix4x4, numpy.append(vector3, 1.))
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+ else:
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+ m0,m1,m2,m3 = matrix4x4; x,y,z = vector3
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+ return [
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+ m0[0]*x + m0[1]*y + m0[2]*z + m0[3],
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+ m1[0]*x + m1[1]*y + m1[2]*z + m1[3],
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+ m2[0]*x + m2[1]*y + m2[2]*z + m2[3],
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+ m3[0]*x + m3[1]*y + m3[2]*z + m3[3]
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+ ]
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+
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+def _inv(matrix4x4):
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+ m0,m1,m2,m3 = matrix4x4
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+
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+ det = m0[3]*m1[2]*m2[1]*m3[0] - m0[2]*m1[3]*m2[1]*m3[0] - \
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+ m0[3]*m1[1]*m2[2]*m3[0] + m0[1]*m1[3]*m2[2]*m3[0] + \
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+ m0[2]*m1[1]*m2[3]*m3[0] - m0[1]*m1[2]*m2[3]*m3[0] - \
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+ m0[3]*m1[2]*m2[0]*m3[1] + m0[2]*m1[3]*m2[0]*m3[1] + \
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+ m0[3]*m1[0]*m2[2]*m3[1] - m0[0]*m1[3]*m2[2]*m3[1] - \
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+ m0[2]*m1[0]*m2[3]*m3[1] + m0[0]*m1[2]*m2[3]*m3[1] + \
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+ m0[3]*m1[1]*m2[0]*m3[2] - m0[1]*m1[3]*m2[0]*m3[2] - \
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+ m0[3]*m1[0]*m2[1]*m3[2] + m0[0]*m1[3]*m2[1]*m3[2] + \
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+ m0[1]*m1[0]*m2[3]*m3[2] - m0[0]*m1[1]*m2[3]*m3[2] - \
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+ m0[2]*m1[1]*m2[0]*m3[3] + m0[1]*m1[2]*m2[0]*m3[3] + \
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+ m0[2]*m1[0]*m2[1]*m3[3] - m0[0]*m1[2]*m2[1]*m3[3] - \
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+ m0[1]*m1[0]*m2[2]*m3[3] + m0[0]*m1[1]*m2[2]*m3[3]
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+
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+ return[[( m1[2]*m2[3]*m3[1] - m1[3]*m2[2]*m3[1] + m1[3]*m2[1]*m3[2] - m1[1]*m2[3]*m3[2] - m1[2]*m2[1]*m3[3] + m1[1]*m2[2]*m3[3]) /det,
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+ ( m0[3]*m2[2]*m3[1] - m0[2]*m2[3]*m3[1] - m0[3]*m2[1]*m3[2] + m0[1]*m2[3]*m3[2] + m0[2]*m2[1]*m3[3] - m0[1]*m2[2]*m3[3]) /det,
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+ ( m0[2]*m1[3]*m3[1] - m0[3]*m1[2]*m3[1] + m0[3]*m1[1]*m3[2] - m0[1]*m1[3]*m3[2] - m0[2]*m1[1]*m3[3] + m0[1]*m1[2]*m3[3]) /det,
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+ ( m0[3]*m1[2]*m2[1] - m0[2]*m1[3]*m2[1] - m0[3]*m1[1]*m2[2] + m0[1]*m1[3]*m2[2] + m0[2]*m1[1]*m2[3] - m0[1]*m1[2]*m2[3]) /det],
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+ [( m1[3]*m2[2]*m3[0] - m1[2]*m2[3]*m3[0] - m1[3]*m2[0]*m3[2] + m1[0]*m2[3]*m3[2] + m1[2]*m2[0]*m3[3] - m1[0]*m2[2]*m3[3]) /det,
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+ ( m0[2]*m2[3]*m3[0] - m0[3]*m2[2]*m3[0] + m0[3]*m2[0]*m3[2] - m0[0]*m2[3]*m3[2] - m0[2]*m2[0]*m3[3] + m0[0]*m2[2]*m3[3]) /det,
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+ ( m0[3]*m1[2]*m3[0] - m0[2]*m1[3]*m3[0] - m0[3]*m1[0]*m3[2] + m0[0]*m1[3]*m3[2] + m0[2]*m1[0]*m3[3] - m0[0]*m1[2]*m3[3]) /det,
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+ ( m0[2]*m1[3]*m2[0] - m0[3]*m1[2]*m2[0] + m0[3]*m1[0]*m2[2] - m0[0]*m1[3]*m2[2] - m0[2]*m1[0]*m2[3] + m0[0]*m1[2]*m2[3]) /det],
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+ [( m1[1]*m2[3]*m3[0] - m1[3]*m2[1]*m3[0] + m1[3]*m2[0]*m3[1] - m1[0]*m2[3]*m3[1] - m1[1]*m2[0]*m3[3] + m1[0]*m2[1]*m3[3]) /det,
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+ ( m0[3]*m2[1]*m3[0] - m0[1]*m2[3]*m3[0] - m0[3]*m2[0]*m3[1] + m0[0]*m2[3]*m3[1] + m0[1]*m2[0]*m3[3] - m0[0]*m2[1]*m3[3]) /det,
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+ ( m0[1]*m1[3]*m3[0] - m0[3]*m1[1]*m3[0] + m0[3]*m1[0]*m3[1] - m0[0]*m1[3]*m3[1] - m0[1]*m1[0]*m3[3] + m0[0]*m1[1]*m3[3]) /det,
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+ ( m0[3]*m1[1]*m2[0] - m0[1]*m1[3]*m2[0] - m0[3]*m1[0]*m2[1] + m0[0]*m1[3]*m2[1] + m0[1]*m1[0]*m2[3] - m0[0]*m1[1]*m2[3]) /det],
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+ [( m1[2]*m2[1]*m3[0] - m1[1]*m2[2]*m3[0] - m1[2]*m2[0]*m3[1] + m1[0]*m2[2]*m3[1] + m1[1]*m2[0]*m3[2] - m1[0]*m2[1]*m3[2]) /det,
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+ ( m0[1]*m2[2]*m3[0] - m0[2]*m2[1]*m3[0] + m0[2]*m2[0]*m3[1] - m0[0]*m2[2]*m3[1] - m0[1]*m2[0]*m3[2] + m0[0]*m2[1]*m3[2]) /det,
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+ ( m0[2]*m1[1]*m3[0] - m0[1]*m1[2]*m3[0] - m0[2]*m1[0]*m3[1] + m0[0]*m1[2]*m3[1] + m0[1]*m1[0]*m3[2] - m0[0]*m1[1]*m3[2]) /det,
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+ ( m0[1]*m1[2]*m2[0] - m0[2]*m1[1]*m2[0] + m0[2]*m1[0]*m2[1] - m0[0]*m1[2]*m2[1] - m0[1]*m1[0]*m2[2] + m0[0]*m1[1]*m2[2]) /det]]
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def get_bounding_box(scene):
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bb_min = [1e10, 1e10, 1e10] # x,y,z
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bb_max = [-1e10, -1e10, -1e10] # x,y,z
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- return get_bounding_box_for_node(scene.rootnode, bb_min, bb_max, linalg.inv(scene.rootnode.transformation))
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+ inv = numpy.linalg.inv if numpy else _inv
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+ return get_bounding_box_for_node(scene.rootnode, bb_min, bb_max, inv(scene.rootnode.transformation))
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def get_bounding_box_for_node(node, bb_min, bb_max, transformation):
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- transformation = numpy.dot(transformation, node.transformation)
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+ if numpy:
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+ transformation = numpy.dot(transformation, node.transformation)
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+ else:
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+ t0,t1,t2,t3 = transformation
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+ T0,T1,T2,T3 = node.transformation
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+ transformation = [ [
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+ t0[0]*T0[0] + t0[1]*T1[0] + t0[2]*T2[0] + t0[3]*T3[0],
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+ t0[0]*T0[1] + t0[1]*T1[1] + t0[2]*T2[1] + t0[3]*T3[1],
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+ t0[0]*T0[2] + t0[1]*T1[2] + t0[2]*T2[2] + t0[3]*T3[2],
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+ t0[0]*T0[3] + t0[1]*T1[3] + t0[2]*T2[3] + t0[3]*T3[3]
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+ ],[
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+ t1[0]*T0[0] + t1[1]*T1[0] + t1[2]*T2[0] + t1[3]*T3[0],
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+ t1[0]*T0[1] + t1[1]*T1[1] + t1[2]*T2[1] + t1[3]*T3[1],
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+ t1[0]*T0[2] + t1[1]*T1[2] + t1[2]*T2[2] + t1[3]*T3[2],
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+ t1[0]*T0[3] + t1[1]*T1[3] + t1[2]*T2[3] + t1[3]*T3[3]
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+ ],[
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+ t2[0]*T0[0] + t2[1]*T1[0] + t2[2]*T2[0] + t2[3]*T3[0],
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+ t2[0]*T0[1] + t2[1]*T1[1] + t2[2]*T2[1] + t2[3]*T3[1],
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+ t2[0]*T0[2] + t2[1]*T1[2] + t2[2]*T2[2] + t2[3]*T3[2],
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+ t2[0]*T0[3] + t2[1]*T1[3] + t2[2]*T2[3] + t2[3]*T3[3]
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+ ],[
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+ t3[0]*T0[0] + t3[1]*T1[0] + t3[2]*T2[0] + t3[3]*T3[0],
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+ t3[0]*T0[1] + t3[1]*T1[1] + t3[2]*T2[1] + t3[3]*T3[1],
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+ t3[0]*T0[2] + t3[1]*T1[2] + t3[2]*T2[2] + t3[3]*T3[2],
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+ t3[0]*T0[3] + t3[1]*T1[3] + t3[2]*T2[3] + t3[3]*T3[3]
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+ ] ]
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+
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for mesh in node.meshes:
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for v in mesh.vertices:
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v = transform(v, transformation)
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Tcll