simvx.core.math.transforms

Transform2D, Basis, and Transform3D — hierarchical placement types.

Module Contents

Classes

Transform2D	2D transform: position + rotation + scale with cached 3x3 matrix.
Basis	3x3 rotation/scale matrix. Column access for right/up/forward.
Transform3D	3D transform: position + rotation (quat) + scale with cached 4x4 matrix.

API

class simvx.core.math.transforms.Transform2D(position=(0, 0), rotation=0.0, scale=(1, 1))

2D transform: position + rotation + scale with cached 3x3 matrix.

Initialization

property position: numpy.ndarray

property rotation: float

property scale: numpy.ndarray

property matrix: numpy.ndarray

translated(offset) → simvx.core.math.transforms.Transform2D

Return a new transform with position shifted by offset.

rotated(angle: float) → simvx.core.math.transforms.Transform2D

Return a new transform with additional rotation (radians).

scaled(factor) → simvx.core.math.transforms.Transform2D

Return a new transform with scale multiplied by factor.

transform_point(point) → numpy.ndarray

Transform a 2D point through this transform.

inverse() → simvx.core.math.transforms.Transform2D

Return the inverse transform.

__mul__(other)

__eq__(other)

__repr__()

class simvx.core.math.transforms.Basis(matrix: numpy.ndarray | None = None)

3x3 rotation/scale matrix. Column access for right/up/forward.

Initialization

__slots__

(‘_m’,)

property x: numpy.ndarray

Right vector (first column).

property y: numpy.ndarray

Up vector (second column).

property z: numpy.ndarray

Forward vector (third column).

rotated(axis, angle: float) → simvx.core.math.transforms.Basis

Return a new basis rotated around axis by angle (radians).

scaled(s) → simvx.core.math.transforms.Basis

Return a new basis with columns scaled by s (scalar or 3-tuple).

transposed() → simvx.core.math.transforms.Basis

Return transposed basis.

inverse() → simvx.core.math.transforms.Basis

Return inverse of this basis.

get_euler() → tuple[float, float, float]

Extract Euler angles (pitch, yaw, roll) in radians from this basis.

Uses ZYX intrinsic rotation order (same as engine Quat convention).

classmethod from_euler(euler) → simvx.core.math.transforms.Basis

Create basis from Euler angles (pitch, yaw, roll) in radians. ZYX order.

classmethod from_axis_angle(axis, angle: float) → simvx.core.math.transforms.Basis

Create rotation basis from axis and angle (radians).

__eq__(other)

__repr__()

class simvx.core.math.transforms.Transform3D(position=(0, 0, 0), rotation=None, scale=(1, 1, 1))

3D transform: position + rotation (quat) + scale with cached 4x4 matrix.

Initialization

property position: numpy.ndarray

property rotation: simvx.core.math.types.Quat

property scale: numpy.ndarray

property matrix: numpy.ndarray

translated(offset) → simvx.core.math.transforms.Transform3D

Return a new transform with position shifted by offset.

rotated(axis, angle: float) → simvx.core.math.transforms.Transform3D

Return a new transform with additional rotation (angle in radians).

scaled(factor) → simvx.core.math.transforms.Transform3D

Return a new transform with scale multiplied by factor.

transform_point(point) → numpy.ndarray

Transform a 3D point through this transform.

looking_at(target, up=(0, 1, 0)) → simvx.core.math.transforms.Transform3D

Return a new transform oriented to look at target.

inverse() → simvx.core.math.transforms.Transform3D

Return the inverse transform.

property basis: simvx.core.math.transforms.Basis

Return the 3x3 rotation/scale basis of this transform.

__mul__(other)

__eq__(other)

__repr__()