def GetWorldMatrix(self): if self.worldMatrix is None or self.isDirty: self.isDirty = False translation = matrix44.create_from_translation(vector3.create(self.position[0], self.position[1], 0.0)) rotation = matrix44.create_from_z_rotation(self.rotation) self.worldMatrix = matrix44.multiply(rotation, translation) return self.worldMatrix
def test_create_from_z_rotation(self):
mat = matrix44.create_from_z_rotation(np.pi / 2.)
self.assertTrue(
np.allclose(np.dot([1., 0., 0., 1.], mat), [0., -1., 0., 1.]))
self.assertTrue(
np.allclose(np.dot([0., 1., 0., 1.], mat), [1., 0., 0., 1.]))
self.assertTrue(
np.allclose(np.dot([0., 0., 1., 1.], mat), [0., 0., 1., 1.]))
def rotated_z():
quat = quaternion.create_from_z_rotation( math.pi )
result = matrix44.create_from_quaternion( quat )
expected = matrix44.create_from_z_rotation( math.pi )
self.assertTrue(
numpy.allclose( result, expected ),
"Matrix44 from quaternion incorrect with PI rotation about Z"
)
def rotated_z():
mat = matrix44.create_from_z_rotation( math.pi )
vec = vector3.unit.x
result = matrix44.apply_to_vector( mat, vec )
expected = -vec
self.assertTrue(
numpy.allclose( result, expected ),
"Matrix44 apply_to_vector incorrect with rotation about Y"
)
def model_matrix(terrain):
translation_matrix = np.matrix([[1, 0, 0, terrain.x], [0, 1, 0, 0],
[0, 0, 1, terrain.z], [0, 0, 0, 1]])
rotation_matrix_x = matrix44.create_from_x_rotation(np.radians(0))
rotation_matrix_y = matrix44.create_from_y_rotation(np.radians(0))
rotation_matrix_z = matrix44.create_from_z_rotation(np.radians(0))
scale_matrix = matrix44.create_from_scale([1, 1, 1])
tx = matrix44.multiply(translation_matrix, rotation_matrix_x)
txy = matrix44.multiply(tx, rotation_matrix_y)
tr = matrix44.multiply(txy, rotation_matrix_z)
model_matrix = matrix44.multiply(tr, scale_matrix)
return model_matrix
def view_matrix(camera):
translation_matrix = np.matrix([[1, 0, 0, -camera.position[0]],
[0, 1, 0, -camera.position[1]],
[0, 0, 1, -camera.position[2]],
[0, 0, 0, 1]])
rotation_matrix_x = matrix44.create_from_x_rotation(
np.radians(camera.pitch))
rotation_matrix_y = matrix44.create_from_y_rotation(
np.radians(camera.yaw))
rotation_matrix_z = matrix44.create_from_z_rotation(
np.radians(camera.roll))
rot = np.dot(rotation_matrix_x,
np.dot(rotation_matrix_y, rotation_matrix_z))
txy = matrix44.multiply(rot, translation_matrix)
view_matrix = matrix44.multiply(txy, rotation_matrix_z)
return view_matrix
def model_matrix(thing):
translation_matrix = np.matrix([[1, 0, 0, thing.position[0]],
[0, 1, 0, thing.position[1]],
[0, 0, 1, thing.position[2]],
[0, 0, 0, 1]])
rotation_matrix_x = matrix44.create_from_x_rotation(
np.radians(thing.rotX))
rotation_matrix_y = matrix44.create_from_y_rotation(
np.radians(thing.rotY))
rotation_matrix_z = matrix44.create_from_z_rotation(
np.radians(thing.rotZ))
scale_matrix = matrix44.create_from_scale(thing.scale)
tx = matrix44.multiply(translation_matrix, rotation_matrix_x)
txy = matrix44.multiply(tx, rotation_matrix_y)
tr = matrix44.multiply(txy, rotation_matrix_z)
model_matrix = matrix44.multiply(tr, scale_matrix)
return model_matrix
def render(self): t = clock() self.time_parameter.set_value(t) data = ( ((-0.5, -0.5, 0), (0.0, 0.0)), ((0.5, -0.5, 0), (1.0, 0.0)), ((0, 0.5, 0), (0.5, 1.0)), ) proj = matrix44.create_perspective_projection_matrix( 90, 4.0 / 3.0, 0.01, 100.0) mv = matrix44.multiply( matrix44.create_from_translation((sin(t * 10), 0.0, -3.0 * abs(sin(t * 30)))), matrix44.create_from_z_rotation(t * 50), ) mvp = matrix44.multiply(mv, proj) self.model_view_proj.set_value(mvp) for pass_ in self.technique.passes: pass_.begin() gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT) gl.glBegin(gl.GL_TRIANGLES) for position, texcoord in data: gl.glMultiTexCoord2fv(gl.GL_TEXTURE0, texcoord) gl.glVertex3fv(position) gl.glEnd() pass_.end()
import os
import numpy as np
from renderer import MGLRenderer
from pyrr import matrix44
datdir = os.path.expanduser('~/data/ax3d/tmp/lowpoly_models_final')
objdir = os.path.join(datdir, 'schoolbus/schoolbus01_49')
objfn = os.path.join(objdir, 'schoolbus01_49.obj')
texfn = os.path.join(objdir, 'SchoolBus01.png')
rdr = MGLRenderer()
rdr.loadobj(objfn, texfn)
# mat = matrix44.create_from_y_rotation(np.pi / 6)
mat = matrix44.create_from_z_rotation(np.pi / 4)
# mat = matrix44.create_identity()
img = rdr.render(mat)
os.makedirs('tmp/get', mode=0o755, exist_ok=True)
img.save('tmp/get/hello.png')
def main():
# initialize glfw
if not glfw.init():
return
w_width, w_height = 1280, 720
aspect_ratio = w_width / w_height
window = glfw.create_window(w_width, w_height, "My OpenGL window", None, None)
if not window:
glfw.terminate()
return
glfw.make_context_current(window)
glfw.set_window_size_callback(window, window_resize)
# positions texture_coords
cube = [-0.5, -0.5, 0.5, 0.0, 0.0,
0.5, -0.5, 0.5, 1.0, 0.0,
0.5, 0.5, 0.5, 1.0, 1.0,
-0.5, 0.5, 0.5, 0.0, 1.0,
-0.5, -0.5, -0.5, 0.0, 0.0,
0.5, -0.5, -0.5, 1.0, 0.0,
0.5, 0.5, -0.5, 1.0, 1.0,
-0.5, 0.5, -0.5, 0.0, 1.0,
0.5, -0.5, -0.5, 0.0, 0.0,
0.5, 0.5, -0.5, 1.0, 0.0,
0.5, 0.5, 0.5, 1.0, 1.0,
0.5, -0.5, 0.5, 0.0, 1.0,
-0.5, 0.5, -0.5, 0.0, 0.0,
-0.5, -0.5, -0.5, 1.0, 0.0,
-0.5, -0.5, 0.5, 1.0, 1.0,
-0.5, 0.5, 0.5, 0.0, 1.0,
-0.5, -0.5, -0.5, 0.0, 0.0,
0.5, -0.5, -0.5, 1.0, 0.0,
0.5, -0.5, 0.5, 1.0, 1.0,
-0.5, -0.5, 0.5, 0.0, 1.0,
0.5, 0.5, -0.5, 0.0, 0.0,
-0.5, 0.5, -0.5, 1.0, 0.0,
-0.5, 0.5, 0.5, 1.0, 1.0,
0.5, 0.5, 0.5, 0.0, 1.0]
cube = numpy.array(cube, dtype=numpy.float32)
indices = [0, 1, 2, 2, 3, 0,
4, 5, 6, 6, 7, 4,
8, 9, 10, 10, 11, 8,
12, 13, 14, 14, 15, 12,
16, 17, 18, 18, 19, 16,
20, 21, 22, 22, 23, 20]
indices = numpy.array(indices, dtype=numpy.uint32)
vertex_shader = """
#version 330
in layout(location = 0) vec3 position;
in layout(location = 1) vec2 texture_cords;
uniform mat4 vp;
uniform mat4 model;
out vec2 textures;
void main()
{
gl_Position = vp * model * vec4(position, 1.0f);
textures = texture_cords;
}
"""
fragment_shader = """
#version 330
in vec2 textures;
out vec4 color;
uniform sampler2D tex_sampler;
void main()
{
color = texture(tex_sampler, textures);
}
"""
shader = OpenGL.GL.shaders.compileProgram(OpenGL.GL.shaders.compileShader(vertex_shader, GL_VERTEX_SHADER),
OpenGL.GL.shaders.compileShader(fragment_shader, GL_FRAGMENT_SHADER))
VBO = glGenBuffers(1)
glBindBuffer(GL_ARRAY_BUFFER, VBO)
glBufferData(GL_ARRAY_BUFFER, cube.itemsize * len(cube), cube, GL_STATIC_DRAW)
EBO = glGenBuffers(1)
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, EBO)
glBufferData(GL_ELEMENT_ARRAY_BUFFER, indices.itemsize * len(indices), indices, GL_STATIC_DRAW)
# position
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, cube.itemsize * 5, ctypes.c_void_p(0))
glEnableVertexAttribArray(0)
# textures
glVertexAttribPointer(1, 2, GL_FLOAT, GL_FALSE, cube.itemsize * 5, ctypes.c_void_p(12))
glEnableVertexAttribArray(1)
crate = TextureLoader.load_texture("resources/images/planks_brown_10_diff_1k.jpg")
metal = TextureLoader.load_texture("resources/images/green_metal_rust_diff_1k.jpg")
brick = TextureLoader.load_texture("resources/images/castle_brick_07_diff_1k.jpg")
glUseProgram(shader)
glClearColor(0.5, 0.1, 0.2, 1.0)
glEnable(GL_DEPTH_TEST)
view = matrix44.create_from_translation(Vector3([0.0, 0.0, -4.0]))
projection = matrix44.create_perspective_projection_matrix(45.0, aspect_ratio, 0.1, 100.0)
vp = matrix44.multiply(view, projection)
vp_loc = glGetUniformLocation(shader, "vp")
model_loc = glGetUniformLocation(shader, "model")
# cube_positions = [(1.0, 0.0, 0.0), (2.0, 5.0, -15.0), (-1.5, -1.2, -2.5), (-8.8, -2.0, -12.3)]
cube_positions = [(1.0, 0.0, 0.0), (2.0, 5.0, -15.0), (-1.5, -1.2, -2.5), (-8.8, -2.0, -12.3), (-2.0, 2.0, -5.5),
(-4.0, 2.0, -3.0)]
# cube_positions = [(-1.5, 1.0, -0.5), (0.0, 1.0, -0.5), (1.5, 1.0, -0.5), (-1.5, -1.0, -0.5), (0.0, -1.0, -0.5), (1.5, -1.0, -0.5)]
glUniformMatrix4fv(vp_loc, 1, GL_FALSE, vp)
while not glfw.window_should_close(window):
glfw.poll_events()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
time = glfw.get_time()
rot_x = matrix44.create_from_x_rotation(sin(time) * 2)
rot_y = matrix44.create_from_y_rotation(time * 0.5)
rot_z = matrix44.create_from_z_rotation(time)
for i in range(len(cube_positions)):
model = matrix44.create_from_translation(cube_positions[i])
if i < 2:
glBindTexture(GL_TEXTURE_2D, crate)
rotX = matrix44.multiply(rot_x, model)
glUniformMatrix4fv(model_loc, 1, GL_FALSE, rotX)
elif i == 2 or i == 3:
glBindTexture(GL_TEXTURE_2D, metal)
rotY = matrix44.multiply(rot_y, model)
glUniformMatrix4fv(model_loc, 1, GL_FALSE, rotY)
else:
glBindTexture(GL_TEXTURE_2D, brick)
rotZ = matrix44.multiply(rot_z, model)
glUniformMatrix4fv(model_loc, 1, GL_FALSE, rotZ)
glDrawElements(GL_TRIANGLES, len(indices), GL_UNSIGNED_INT, None)
glfw.swap_buffers(window)
glfw.terminate()
def test_create_from_z_rotation(self):
mat = matrix44.create_from_z_rotation(np.pi / 2.)
self.assertTrue(np.allclose(np.dot([1.,0.,0.,1.], mat), [0.,-1.,0.,1.]))
self.assertTrue(np.allclose(np.dot([0.,1.,0.,1.], mat), [1.,0.,0.,1.]))
self.assertTrue(np.allclose(np.dot([0.,0.,1.,1.], mat), [0.,0.,1.,1.]))
def test_apply_to_vector_z_rotation(self):
mat = matrix44.create_from_z_rotation(np.pi)
result = matrix44.apply_to_vector(mat, [1.,0.,0.])
np.testing.assert_almost_equal(result, [-1.,0.,0.], decimal=5)
def test_apply_to_vector_z_rotation(self):
mat = matrix44.create_from_z_rotation(np.pi)
result = matrix44.apply_to_vector(mat, [1., 0., 0.])
np.testing.assert_almost_equal(result, [-1., 0., 0.], decimal=5)
def rotate(self, xrot, yrot, zrot):
xrot_mat = matrix44.create_from_x_rotation(radians(xrot))
yrot_mat = matrix44.create_from_y_rotation(radians(yrot))
zrot_mat = matrix44.create_from_z_rotation(radians(zrot))
self.rotation_matrix = xrot_mat * yrot_mat * zrot_mat
