refactoring:

make rotation matrix rotating from x -> y (changing the sign of the rotation)
not sure why it was defined the other way ???

freecad/gears/bevelgear.py

@@ -119,7 +119,7 @@ def generate_gear_shape(self, fp):
         fp.gear.clearance = fp.clearance / scale
         fp.gear._update()
         pts = list(fp.gear.points(num=fp.numpoints))
-        rot = rotation3D(2 * np.pi / fp.teeth)
+        rot = rotation3D(- 2 * np.pi / fp.teeth)
         # if fp.beta.Value != 0:
         #     pts = [np.array([self.spherical_rot(j, fp.beta.Value * np.pi / 180.) for j in i]) for i in pts]
 
@@ -142,7 +142,7 @@ def generate_gear_shape(self, fp):
         else:
             for scale_i in np.linspace(scale_0, scale_1, 20):
                 # beta_i = (scale_i - scale_0) * fp.beta.Value * np.pi / 180
-                # rot = rotation3D(beta_i)
+                # rot = rotation3D(- beta_i)
                 # points = [rot(pt) * scale_i for pt in pts]
                 angle = (
                     fp.beta.Value
@@ -203,4 +203,4 @@ def scale(x):
 
     def spherical_rot(self, point, phi):
         new_phi = np.sqrt(np.linalg.norm(point)) * phi
-        return rotation3D(new_phi)(point)
+        return rotation3D(- new_phi)(point)

freecad/gears/cycloidgear.py

@@ -155,7 +155,7 @@ def generate_gear_shape(self, fp):
         fp.gear._update()
 
         pts = fp.gear.points(num=fp.numpoints)
-        rot = rotation(-fp.gear.phipart)
+        rot = rotation(fp.gear.phipart)
         rotated_pts = list(map(rot, pts))
         pts.append([pts[-1][-1], rotated_pts[0][0]])
         pts += rotated_pts

freecad/gears/internalinvolutegear.py

@@ -196,7 +196,7 @@ def generate_gear_shape(self, fp):
         if not fp.simple:
             # head-fillet:
             pts = fp.gear.points(num=fp.numpoints)
-            rot = rotation(-fp.gear.phipart)
+            rot = rotation(fp.gear.phipart)
             rotated_pts = list(map(rot, pts))
             pts.append([pts[-1][-1], rotated_pts[0][0]])
             pts += rotated_pts

freecad/gears/involutegear.py

@@ -206,7 +206,7 @@ def generate_gear_shape(self, obj):
 
         if not obj.simple:
             pts = obj.gear.points(num=obj.numpoints)
-            rot = rotation(-obj.gear.phipart)
+            rot = rotation(obj.gear.phipart)
             rotated_pts = list(map(rot, pts))
             pts.append([pts[-1][-1], rotated_pts[0][0]])
             pts += rotated_pts

freecad/gears/lanterngear.py

@@ -112,7 +112,7 @@ def find_phi_min(phi_min):
             app.Vector(*p_1, 0.0), app.Vector(*p_12, 0.0), app.Vector(*p_2, 0.0)
         ).toShape()
 
-        rot = rotation(-np.pi * 2 / teeth)
+        rot = rotation(np.pi * 2 / teeth)
         p_3 = rot(np.array([p_2_end]))[0]
         # l = part.LineSegment(fcvec(p_1_end), fcvec(p_3)).toShape()
         l = part_arc_from_points_and_center(

freecad/gears/timinggear_t.py

@@ -93,7 +93,7 @@ def dist_p2(s):
         mirror = reflection(0.0)  # reflect the points at the x-axis
         p_3, p_4 = mirror(np.array([p_2, p_1]))
 
-        rot = rotation(-gamma_0)  # why is the rotation in wrong direction ???
+        rot = rotation(gamma_0)  # why is the rotation in wrong direction ???
         p_5 = rot(np.array([p_1]))[0]  # the rotation expects a list of points
 
         l1 = part.LineSegment(fcvec(p_1), fcvec(p_2)).toShape()

pygears/_functions.py

@@ -42,16 +42,15 @@ def reflection3D(angle):
     )
 
     def func(x):
-        # why not use mat @ x
         return dot(x, mat)
 
     return func
 
 
 def rotation(angle, midpoint=None):
     midpoint = midpoint or [0.0, 0.0]
-    mat = array([[cos(angle), -sin(angle)], 
-                 [sin(angle), cos(angle)]])
+    mat = array([[cos(angle), sin(angle)], 
+                 [-sin(angle), cos(angle)]])
     midpoint = array(midpoint)
     vec = midpoint - dot(midpoint, mat)
     trans = translation(vec)
@@ -64,8 +63,8 @@ def func(xx):
 
 def rotation3D(angle):
     mat = array(
-        [[cos(angle), -sin(angle), 0.0], 
-         [sin(angle), cos(angle), 0.0], 
+        [[cos(angle), sin(angle), 0.0], 
+         [-sin(angle), cos(angle), 0.0], 
          [0.0, 0.0, 1.0]]
     )
 

pygears/bevel_tooth.py

@@ -213,13 +213,13 @@ def involute_points(self, num=10):
         intersection_point = intersection_line_circle(xy[i], point, r_cut)
         xy = array([intersection_point] + list(xy[i + 1 :]))
         xyz = [[p[0], p[1], 1] for p in xy]
-        backlash_rot = rotation3D(self.angular_backlash / 2)
+        backlash_rot = rotation3D(- self.angular_backlash / 2)
         xyz = backlash_rot(xyz)
         return xyz
 
     def points(self, num=10):
         pts = self.involute_points(num=num)
-        rot = rotation3D(-pi / self.z / 2)
+        rot = rotation3D(pi / self.z / 2)
         pts = rot(pts)
         ref = reflection3D(pi / 2)
         pts1 = ref(pts)[::-1]

pygears/cycloid_tooth.py

@@ -110,7 +110,7 @@ def points(self, num=10):
         pts_outer = transpose([pts_outer_x, pts_outer_y])
         pts_inner = transpose([pts_inner_x, pts_inner_y])
         pts1 = vstack([pts_inner[:-2], pts_outer])
-        rot = rotation(self.phipart / 4 - self.angular_backlash / 2)
+        rot = rotation(- self.phipart / 4 + self.angular_backlash / 2)
         pts1 = rot(pts1)
         ref = reflection(0.0)
         pts2 = ref(pts1)[::-1]

pygears/involute_tooth.py

@@ -125,7 +125,7 @@ def undercut_points(self, num=10):
         y = array(list(map(fy, pts)))
         xy = transpose([x, y])
         rotate = rotation(
-            self.undercut_rot + self.phipart / 2 - self.angular_backlash / 2
+            - self.undercut_rot - self.phipart / 2 + self.angular_backlash / 2
         )
         xy = rotate(xy)
         return array(xy)
@@ -136,7 +136,7 @@ def involute_points(self, num=10):
         x = array(list(map(fx, pts)))
         fy = self.involute_function_y()
         y = array(list(map(fy, pts)))
-        rot = rotation(self.involute_rot - self.angular_backlash / 2)
+        rot = rotation(- self.involute_rot + self.angular_backlash / 2)
         xy = rot(transpose(array([x, y])))
         return xy
 
@@ -168,10 +168,6 @@ def points(self, num=10):
             one_tooth = [u1, e1, [e1[-1], e2[0]], e2, u2]
         return one_tooth
 
-    def gearfunc(self, x):
-        rot = rotation(2 * x / self.dw, self.midpoint)
-        return rot
-
     def undercut_function_x(self):
         def func(psi):
             return cos(psi - (self.df * tan(psi)) / self.dw) * sqrt(

pygears/profile.py

@@ -33,7 +33,7 @@ def profile(self, num=10):
         if self.rot3D:
             rot = rotation3D(np.pi * 2 / self.z)
         else:
-            rot = rotation(-np.pi * 2 / self.z)
+            rot = rotation(np.pi * 2 / self.z)
         profile = tooth
         for i in range(self.z - 1):
             tooth = rot(tooth).tolist()