update graphics based on backend changes (#711)

Co-authored-by: Mohamed Koubaa <koubaa@github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: pyansys-ci-bot <pyansys.github.bot@ansys.com>

doc/changelog.d/711.miscellaneous.md

@@ -0,0 +1 @@
+update graphics based on backend changes

src/ansys/mechanical/core/embedding/viz/pyvista_plotter.py

@@ -38,13 +38,9 @@
 def _transform_to_pyvista(transform: "Ansys.ACT.Math.Matrix4D"):
     """Convert the Transformation matrix to a numpy array."""
     np_transform = np.array([transform[i] for i in range(16)]).reshape(4, 4)
-    # There's a bug in mechanical, the scenegraph wrappers use theMatrix4D
-    # type, which puts the transformations in the transposed location relative
-    # to pyvista. But they use the same matrix layout as pyvista, so that
-    # doesn't conform to the expectations of Matrix4D. When it is fixed there,
-    # the below line has to be uncommented
 
-    # np_transform = np_transform.transpose()
+    # The mechanical scenegraph transform node is the transpose of the pyvista transform matrix
+    np_transform = np_transform.transpose()
     return np_transform
 
 

src/ansys/mechanical/core/embedding/viz/usd_converter.py

@@ -35,7 +35,9 @@
 from .utils import bgr_to_rgb_tuple, get_nodes_and_coords
 
 
-def _transform_to_rotation_quat(transform: "Ansys.ACT.Math.Matrix4D") -> Gf.Quatf:
+def _transform_to_rotation_translation(
+    transform: "Ansys.ACT.Math.Matrix4D",
+) -> typing.Tuple[Gf.Quatf, Gf.Vec3f]:
     """Convert the Transformation matrix to a single-precision quaternion."""
     transforms = [transform[i] for i in range(16)]
     m = Gf.Matrix4d()
@@ -44,14 +46,14 @@ def _transform_to_rotation_quat(transform: "Ansys.ACT.Math.Matrix4D") -> Gf.Quat
     m.SetRow(2, transforms[8:12])
     m.SetRow(3, transforms[12:16])
 
-    # TODO: m = m.GetTranspose() # if/when needed?
-
     # Get quaternion from transformation matrix
     quatd: Gf.Quatd = m.ExtractRotationQuat()
 
-    # Convert to single precision
-    quatf = Gf.Quatf(quatd)
-    return quatf
+    # Get translation from transformation matrix
+    transd: Gf.Vec3d = m.ExtractTranslation()
+
+    # Return as single precision
+    return Gf.Quatf(quatd), Gf.Vec3f(transd)
 
 
 def _convert_tri_tessellation_node(
@@ -79,12 +81,13 @@ def _convert_transform_node(
 ) -> Usd.Prim:
     """Convert a mechanical transform node into a Usd Xform prim."""
     prim = UsdGeom.Xform.Define(stage, path)
-    prim.AddOrientOp().Set(_transform_to_rotation_quat(node.Transform))
+    rotation, translation = _transform_to_rotation_translation(node.Transform)
+    prim.AddOrientOp().Set(rotation)
+    prim.AddTranslateOp().Set(translation)
     child_node = node.Child
+    child_path = prim.GetPath().AppendPath("TriTessellation")
     if isinstance(child_node, Ansys.Mechanical.Scenegraph.TriTessellationNode):
-        _convert_tri_tessellation_node(
-            node.Child, stage, prim.GetPath().AppendPath("TriTessellation"), rgb
-        )
+        _convert_tri_tessellation_node(child_node, stage, child_path, rgb)
     return prim