apply rotation of cylinder axis using matrix (fix #20)

fkanehiro · Aug 18, 2015 · c88aff2 · c88aff2
1 parent 2f59d93
commit c88aff2
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/simtrans/sdf.py b/simtrans/sdf.py
@@ -290,7 +290,9 @@ def readShape(self, d):
                 m.data = model.CylinderData()
                 m.data.radius = float(g.find('radius').text)
                 m.data.height = float(g.find('length').text)
-                m.rot = tf.quaternion_multiply(m.getrotation(), tf.quaternion_about_axis(numpy.pi/2, [1,0,0]))
+                m.matrix = numpy.dot(m.getmatrix(), tf.rotation_matrix(numpy.pi/2, [1,0,0]))
+                m.trans = None
+                m.rot = None
             elif g.tag == 'sphere':
                 m.shapeType = model.ShapeModel.SP_SPHERE
                 m.data = model.SphereData()