omniverse_sample_scripts/Math/DecomposeTransform2.py at main · ft-lab/omniverse_sample_scripts · GitHub

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from pxr import Usd, UsdGeom, UsdSkel, UsdPhysics, UsdShade, Sdf, Gf, Tf

# --------------------------------------------------.
# Use Gf.Matrix4d.
# --------------------------------------------------.
# Dump matrix.
def DumpMatrix(m : Gf.Matrix4d):
    print("---------------------")
    for i in range(4):
        print(f"{mm[i,0]}  {mm[i,1]}  {mm[i,2]}  {mm[i,3]}")
    print("")

# Create Matrix4.
translate = Gf.Vec3d(10.5, 2.8, 6.0)
rotation  = Gf.Rotation(Gf.Vec3d(0, 1, 0), 20) * Gf.Rotation(Gf.Vec3d(0, 0, 1), 45)
scale     = Gf.Vec3d(2.0, 0.5, 1.0)

mm = Gf.Matrix4d().SetScale(scale) * Gf.Matrix4d(rotation, Gf.Vec3d(0)) * Gf.Matrix4d().SetTranslate(translate)
DumpMatrix(mm)

# Decompose matrix.
mTransRotate = mm.RemoveScaleShear()
rTrans = mTransRotate.ExtractTranslation()
rRot = mTransRotate.ExtractRotation()
mScale = mm * mTransRotate.GetInverse()
rScale = Gf.Vec3d(mScale[0][0], mScale[1][1], mScale[2][2])

rAxisX = Gf.Vec3d(1, 0, 0)
rAxisY = Gf.Vec3d(0, 1, 0)
rAxisZ = Gf.Vec3d(0, 0, 1)
rRotE = rRot.Decompose(rAxisZ, rAxisY, rAxisX)
rRotE = Gf.Vec3d(rRotE[2], rRotE[1], rRotE[0])

print(f"Trans : {rTrans}")
print(f"Rot : {rRotE}")
print(f"Scale : {rScale}")