From 9c9f35753489cba5a61816104ac294857be20941 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 29 Apr 2011 20:35:20 +0200 Subject: host/simu: transpose transformation matrix, reverse transformation order This is better because transformations can be built incrementally from the container to the contained. This use the same semantic as OpenGL. --- host/simu/robots/marcel/model/loader.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'host/simu/robots/marcel/model') diff --git a/host/simu/robots/marcel/model/loader.py b/host/simu/robots/marcel/model/loader.py index 0270ce79..ae1caa7d 100644 --- a/host/simu/robots/marcel/model/loader.py +++ b/host/simu/robots/marcel/model/loader.py @@ -159,8 +159,8 @@ class Loader (Observable): # If gate is high, drop elements. if self.load and self.gate_angle > self.GATE_STROKE / 2: m = TransMatrix () - m.rotate (self.robot_position.angle) m.translate (self.robot_position.pos) + m.rotate (self.robot_position.angle) pos = m.apply ((-250, 0)) for e in self.load: e.pos = pos @@ -177,9 +177,9 @@ class Loader (Observable): return elements # Matrix to transform an obstacle position into robot coordinates. m = TransMatrix () + m.rotate (-self.robot_position.angle) m.translate ((-self.robot_position.pos[0], -self.robot_position.pos[1])) - m.rotate (-self.robot_position.angle) # Look up elements. # This could be used if clamp blocking is handled or elements are # pushed: -- cgit v1.2.3