[splib3] Adds features and one fix (#116)

* [splib3] list of changes:
- adds to_degrees() to numerics __init__
- adds terminationDelay to animate.py
- fixed createFromEuler (was modifing the parameter rotation, which is by default given by reference in python)
Note: the params field is for passing parameters to the
callback function not for controlling the animation system itself.

---------

Co-authored-by: Damien Marchal <[email protected]>

python3/src/splib3/animation/animate.py

@@ -2,6 +2,7 @@
 import Sofa.Core
 from splib3.utils import deprecated_alias
 
+
 class Animation(object):
     """An animation clip that trigger callback at regular intervales for a given duration.
 
@@ -27,12 +28,17 @@ def onDone(target, factor):
 
             animate(onUpdate, {"target" : rootNode }, 12, onDone=onDone)
     """
+
     @deprecated_alias(cb='onUpdate')
-    def __init__(self, duration, mode, onUpdate, params, onDone=None):
+    def __init__(self, duration, mode, onUpdate, params, onDone=None, terminationDelay=None):
         if 'startTime' in params:
             self.startTime = params['startTime']
         else:
             self.startTime = None
+        self.startTimeInit = None
+
+        self.terminationDelay = terminationDelay
+        self.terminationDelayInit = self.terminationDelay
 
         self.duration = duration
         self.onUpdate = onUpdate
@@ -42,6 +48,10 @@ def __init__(self, duration, mode, onUpdate, params, onDone=None):
         self.direction = 1.0
         self.mode = mode
 
+    def reset(self):
+        self.startTime = self.startTimeInit
+        self.terminationDelay = self.terminationDelayInit
+
     def doOnDone(self, currentTime):
         self.onDone(factor=self.factor, **self.params)
 
@@ -52,9 +62,9 @@ def update(self, currentTime):
         if self.duration == 0.0:
             self.factor = 1.0
         elif self.direction > 0.0:
-            self.factor = (currentTime-self.startTime) / self.duration
+            self.factor = (currentTime - self.startTime) / self.duration
         else:
-            self.factor = 1.0-(currentTime-self.startTime) / self.duration
+            self.factor = 1.0 - (currentTime - self.startTime) / self.duration
 
         if self.factor > 1.0:
             self.factor = 1.0
@@ -77,9 +87,10 @@ def __init__(self, *args, **kwargs):
         self.node = args[0]
         self.totalTime = 0
         self.animations = []
-    
+
     def clearAnimations(self):
         self.animations = []
+        self.totalTime = 0
 
     def addAnimation(self, animation):
         self.animations.append(animation)
@@ -92,20 +103,23 @@ def bwdInitGraph(self, root):
 
     def onAnimateBeginEvent(self, event):
         self.totalTime += self.node.getRoot().dt.value
+
         nextanimations = []
         for animation in self.animations:
+            if self.totalTime == 0:
+                animation.reset()
             animation.update(self.totalTime)
             if animation.factor < 1.0 and animation.direction > 0.0:
                 nextanimations.append(animation)
             elif animation.factor > 0.0 and animation.direction < 0.0:
                 nextanimations.append(animation)
             elif animation.mode == "pingpong":
                 animation.direction = -animation.direction
-                animation.startTime = None
+                animation.startTime = animation.duration + animation.terminationDelay + animation.startTime if animation.terminationDelay is not None else None
                 nextanimations.append(animation)
             elif animation.mode == "loop":
                 animation.direction = animation.direction
-                animation.startTime = None
+                animation.startTime = animation.duration + animation.terminationDelay + animation.startTime if animation.terminationDelay is not None else None
                 nextanimations.append(animation)
             elif animation.onDone is not None:
                 animation.doOnDone(self.totalTime)
@@ -115,7 +129,8 @@ def onAnimateBeginEvent(self, event):
 
 manager = None
 
-def animate(onUpdate, params, duration, mode="once", onDone=None):
+
+def animate(onUpdate, params, duration, mode="once", onDone=None, terminationDelay=None):
     """Construct and starts an animation
 
     Build a new animation from a callback function that computes the animation value,
@@ -137,18 +152,20 @@ def createScene(rootNode)
                 AnimationManager(rootNode)
                 animate(myAnimate, {"target" : rootNode }, 10)
     """
-    if manager == None:
+    if manager is None:
         raise Exception("Missing manager in this scene")
 
-    manager.addAnimation(Animation(duration=duration, mode=mode, onUpdate=onUpdate, params=params, onDone=onDone))
+    manager.addAnimation(Animation(duration=duration, mode=mode, onUpdate=onUpdate, params=params,
+                                   onDone=onDone, terminationDelay=terminationDelay))
 
 
 def removeAnimation(animation):
-    if manager == None:
+    if manager is None:
         raise Exception("Missing manager in this scene")
 
     manager.removeAnimation(animation)
 
+
 def AnimationManager(node):
     """
     A Controller to manage all animations in the scene
@@ -168,7 +185,8 @@ def createScene(rootNode)
     """
     global manager
     if manager is not None:
-        #Sofa.msg_info(node, "There is already one animation manager in this scene...why do you need a second one ? Resting it.")
+        # Sofa.msg_info(node, "There is already one animation manager
+        # in this scene...why do you need a second one ? Resting it.")
         manager.clearAnimations()
         return manager
     manager = AnimationManagerController(node)
@@ -177,15 +195,16 @@ def createScene(rootNode)
 
 # This function is just an example on how to use the animate function.
 def createScene(rootNode):
-    def myAnimate1(target, factor):
-        print("I should do something on: "+target.name+" factor is: "+str(factor))
+    def myAnimate1(target, factor, terminationDelay=0):
+        print("I should do something on: " + target.getName() + " factor is: " + str(factor))
 
     def myAnimate2(target, factor):
-        print("Function 2: "+target.name+" factor is: "+str(factor))
+        print("Function 2: " + target.getName() + " factor is: " + str(factor))
 
     def myOnDone(target, factor):
-        print("onDone: "+target.name+" factor is: "+str(factor))
+        print("onDone: " + target.getName() + " factor is: " + str(factor))
 
     rootNode.addObject(AnimationManager(rootNode))
     animate(myAnimate1, {"target": rootNode}, 10)
     animate(myAnimate2, {"target": rootNode}, 12, onDone=myOnDone)
+    animate(myAnimate1, {"target": rootNode}, 2, mode="loop", terminationDelay=2)

python3/src/splib3/numerics/__init__.py

@@ -47,7 +47,7 @@
 RigidDofZero = [0.0,0.0,0.0,0.0,0.0,0.0,1.0]
 
 def to_radians(v):
-    """Converts degree to radians
+    """Converts degrees to radians
 
        :param v: the angle to convert
     """
@@ -58,6 +58,17 @@ def to_radians(v):
         return p
     return v * pi * 2.0 / 360.0
 
+def to_degrees(v):
+    """Converts radians to degrees
+
+       :param v: the angle to convert
+    """
+    if isinstance(v, list):
+        p = []
+        for tp in v:
+            p.append( tp / pi / 2.0 * 360.0 )
+        return p
+    return v / pi / 2.0 * 360.0
 
 def TRS_to_matrix(translation, rotation=None, scale=None, eulerRotation=None):
     t = numpy.identity(4)

python3/src/splib3/numerics/quat.py

@@ -29,6 +29,7 @@ class Quat(numpy.ndarray):
     q = Quat.product(q1,q2)
     q = Quat.createFromEuler([x,y,z])
     q = Quat.createFromAxisAngle([axis],angle)
+    q = Quat.createFromVectors(v1, v2)
     """
 
     def __new__(cls, *args):
@@ -317,13 +318,13 @@ def createFromAxisAngle(axis, angle):
         return q
 
     @staticmethod
-    def createFromEuler(a, axes='sxyz', inDegree=False):
+    def createFromEuler(v, axes='sxyz', inDegree=False):
         """Returns a quaternion from Euler angles (in radian) and axis sequence.
         The quaternion is of type Quat.
 
         Args:
 
-        a is a list of three Euler angles [x,y,z]
+        v is a list of three Euler angles [x,y,z]
         axes : One of 24 axis sequences as string or encoded tuple
 
         Example:
@@ -337,6 +338,7 @@ def createFromEuler(a, axes='sxyz', inDegree=False):
         [ 0.5 -0.5  0.5  0.5]
         """
 
+        a = numpy.copy(v)
         if inDegree:
             a = [a[0] * pi / 180, a[1] * pi / 180, a[2] * pi / 180]