Created
June 5, 2024 11:55
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Convert rigid transformations (TRS) from coordinate system A to coordinate system B
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# this program demonstrate how to cnoevrt TRS from | |
# blender's coordinate to Unity's coordinate. | |
import numpy as np | |
from scipy.spatial.transform import Rotation | |
blender_west = [1, 0, 0] | |
blender_up = [0, 0, 1] | |
blender_north= [0, -1, 0] | |
blender_coord = np.array([ | |
blender_west, blender_up, blender_north | |
], dtype=np.float64).T | |
unity_west = [1, 0, 0] | |
unity_up = [0, 1, 0] | |
unity_north = [0, 0, -1] | |
unity_coord = np.array([ | |
unity_west, unity_up, unity_north | |
], dtype=np.float64).T | |
b2u = unity_coord @ np.linalg.inv(blender_coord) | |
trans = np.array([-8.1831, 5.3352, 2.2994]) | |
rot = np.array([14.1, -36.6, 47.3]) | |
scale = np.array([3.0, 4.0, 2.0]) | |
print("Translation (Blender):", trans) | |
print("Rotation (Blender):", rot) | |
print("Scale (Blender):", scale) | |
Rb = Rotation.from_euler('xyz', rot, degrees=True).as_matrix() | |
# change of basis | |
Ru = b2u @ Rb @ np.linalg.inv(b2u) | |
z, x, y = Rotation.from_matrix(Ru).as_euler('zxy', degrees=True) # unity use zxy-order | |
unity_rot = np.array([x, y, z]) | |
print("Translation (Unity):", trans @ b2u.T) | |
print("Rotation (Unity):", unity_rot) | |
print("Scale (Unity):", scale @ b2u.T) |
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