def key_event(window, key, scancode, action, mode):
global eye
if action == glfw.PRESS and key == glfw.KEY_RIGHT:
rot = 5
rot = mat3.create_from_axis_rotation(vec3([0.0, 1.0, 0.0]), np.radians(rot))
eye = rot.dot(eye)
elif action == glfw.PRESS and key == glfw.KEY_LEFT:
rot = -5
rot = mat3.create_from_axis_rotation(vec3([0.0, 1.0, 0.0]), np.radians(rot))
eye = rot.dot(eye)
if action == glfw.PRESS and key == glfw.KEY_UP:
rot = 5
right = np.cross(center - eye, up)
rot = mat3.create_from_axis_rotation(vec3(right), np.radians(rot))
eye = rot.dot(eye)
elif action == glfw.PRESS and key == glfw.KEY_DOWN:
rot = -5
right = np.cross(center - eye, up)
rot = mat3.create_from_axis_rotation(vec3(right), np.radians(rot))
eye = rot.dot(eye)
if action == glfw.PRESS and key == glfw.KEY_S:
eye = 1.01 * eye
elif action == glfw.PRESS and key == glfw.KEY_W:
eye = 0.99 * eye
if action == glfw.PRESS and key == glfw.KEY_SPACE:
create_pes()
def behave(self, params):
if params.mouse.left_pressed:
if self._start is None:
self._start = params.mouse.location
self._origin = params.scene.camera_target
self._camera_pos = params.scene.camera_position
cam_dir = vector.normalize(self._camera_pos - self._origin)
self._right = np.cross(params.scene.up_vector, cam_dir)
self._up = np.cross(cam_dir, self._right)
else:
size = params.scene.size
end = params.mouse.location
deltaX = float(end[0] - self._start[0]) / size[0]
deltaY = float(end[1] - self._start[1]) / size[1]
Rx = matrix33.create_from_axis_rotation(
self._up, deltaX * 2 * np.pi)
Ry = matrix33.create_from_axis_rotation(
self._right, deltaY * 2 * np.pi)
R = Ry.dot(Rx)
newpos = self._origin + R.dot(self._camera_pos - self._origin)
newup = R.dot(self._up)
params.scene.camera_position = newpos
params.scene.up_vector = newup
params.refresh = True
else:
self._start = None
def rot33(magnitude, direction) -> numpy.float32:
"""Return the 3x3 matrix of float32 which rotates
by the given magnitude and direction.
"""
return matrix33.create_from_axis_rotation(AXIS.dot(
matrix33.create_from_z_rotation(direction)),
magnitude,
dtype=numpy.float32)
def test_create_from_axis_rotation_non_normalised(self):
result = matrix33.create_from_axis_rotation([1., 1., 1.], np.pi)
np.testing.assert_almost_equal(result,
matrix33.create_from_quaternion([
5.77350000e-01, 5.77350000e-01,
5.77350000e-01, 6.12323400e-17
]),
decimal=3)
self.assertTrue(result.dtype == np.float)
def test_create_from_axis_rotation(self):
# wolfram alpha can be awesome sometimes
result = matrix33.create_from_axis_rotation(
[0.57735, 0.57735, 0.57735], np.pi)
np.testing.assert_almost_equal(result,
matrix33.create_from_quaternion([
5.77350000e-01, 5.77350000e-01,
5.77350000e-01, 6.12323400e-17
]),
decimal=3)
self.assertTrue(result.dtype == np.float)
def _set_velocity_for_speed_and_direction(self, speed: float, direction: float):
# get the heading
dx = self.model.target_x - self.model.ball.x
dy = self.model.target_y - self.model.ball.y
# direction is meaningless if we're already at the target
if (dx != 0) or (dy != 0):
# set the magnitude
vel = vector.set_length([dx, dy, 0.0], speed)
# rotate by direction around Z-axis at ball position
rot = matrix33.create_from_axis_rotation([0.0, 0.0, 1.0], direction)
vel = matrix33.apply_to_vector(rot, vel)
# unpack into ball velocity
self.model.ball_vel.x = vel[0]
self.model.ball_vel.y = vel[1]
self.model.ball_vel.z = vel[2]
def angle(self, theta):
assert isinstance(theta, (int, float))
self._rot = matrix33.create_from_axis_rotation(Z, theta, dtype='f4')
self._angle = theta
self._set_dirty()
def m3MatrixRotation(axis, radian):
return m3.create_from_axis_rotation(np.array(axis)*1.0, radian).transpose()
def get_value(self, t):
R = matrix33.create_from_axis_rotation(self._normal, 2 * t * np.pi)
return self._center + R.dot(self._point - self._center)
def test_create_from_axis_rotation(self):
# wolfram alpha can be awesome sometimes
result = matrix33.create_from_axis_rotation([0.57735, 0.57735, 0.57735],np.pi)
np.testing.assert_almost_equal(result, matrix33.create_from_quaternion([5.77350000e-01, 5.77350000e-01, 5.77350000e-01, 6.12323400e-17]), decimal=3)
self.assertTrue(result.dtype == np.float)
def test_create_from_axis_rotation_non_normalised(self):
result = matrix33.create_from_axis_rotation([1.,1.,1.], np.pi)
np.testing.assert_almost_equal(result, matrix33.create_from_quaternion([5.77350000e-01, 5.77350000e-01, 5.77350000e-01, 6.12323400e-17]), decimal=3)
self.assertTrue(result.dtype == np.float)
