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transformation.md

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Transformation

All transformation in this wrapper are represented by a tuple that consists of position and rotation (quaternion). The tuple transformation is automatically casted into physx::PxTransform c++ type.

Transformations returned from PhysX

All transformation returned from physx are in form (pos, quat), e.g.:

pos, quat = actor.get_global_pose()

Position is a numpy array of shape (3,) and quaternion is numpy-quaternion.

Creating transformations

There are multiple possibilities how to specify transformation that is passed to physx:

Pure translation (i.e. Identity orientation)

  • array of 3 values: [x, y, z] or (x,y,z) or np.array([x,y,z])
  • 1D tuple of buffer of 3 values: ([x, y, z],) or ((x,y,z),) or (np.array([x,y,z]),) or ((x,y,z),) creates transformation with identity rotation

Specifying rotation

  • tuple of position and quaternion ((x,y,z), quaternion(1,0,0,0))
  • tuple of position and quaternion specified as array ((x,y,z), (1,0,0,0))
  • array of size 7: [x,y,z,qw,qx,qy,qz]

Casting transformations

You can use function pyphysx.cast_transformation() to convert above mentioned types into (pos, quat) format.

Manipulation with transformations

t1 = (pos1, quat1)
t2 = cast_transformation([0,0,0.2])

print(multiply_transformations(t1, t2))
print(inverse_transformation(t1))