def move(self, x, y, width, height):
self.currentPos = self.mapToSphere(x, y, width, height)
self._axis = QVector3D.crossProduct(self.lastPos, self.currentPos)
length = math.sqrt(QVector3D.dotProduct(self.axis, self.axis))
self.angle = QVector3D.dotProduct(self.lastPos, self.currentPos)
self.lastPos = self.currentPos
if length > EPSILON:
return QQuaternion.fromAxisAndAngle(self._axis, self.angle)
return QQuaternion.fromAxisAndAngle(0, 0, 0, 0)
def createScene():
# Root entity.
rootEntity = QEntity()
# Material.
material = QPhongMaterial(rootEntity)
# Torus.
torusEntity = QEntity(rootEntity)
torusMesh = QTorusMesh()
torusMesh.setRadius(5)
torusMesh.setMinorRadius(1)
torusMesh.setRings(100)
torusMesh.setSlices(20)
torusTransform = QTransform()
torusTransform.setScale3D(QVector3D(1.5, 1.0, 0.5))
torusTransform.setRotation(
QQuaternion.fromAxisAndAngle(QVector3D(1.0, 0.0, 0.0), 45.0))
torusEntity.addComponent(torusMesh)
torusEntity.addComponent(torusTransform)
torusEntity.addComponent(material)
# Sphere.
sphereEntity = QEntity(rootEntity)
sphereMesh = QSphereMesh()
sphereMesh.setRadius(3)
sphereEntity.addComponent(sphereMesh)
sphereEntity.addComponent(material)
return rootEntity
def generateData(self):
# 生成模拟数据
magneticFieldArray = []
for i in range(self.m_fieldLines):
horizontalAngle = (self.doublePi * i) / self.m_fieldLines
xCenter = self.ellipse_a * math.cos(horizontalAngle)
zCenter = self.ellipse_a * math.sin(horizontalAngle)
# Rotate - arrow is always tangential to the origin.
# 旋转-箭头始终与原点相切。
yRotation = QQuaternion.fromAxisAndAngle(
0.0, 1.0, 0.0, horizontalAngle * self.radiansToDegrees)
for j in range(self.m_arrowsPerLine):
# Calculate the point on the ellipse centered on the origin and
# 计算椭圆上以原点为中心的点
# parallel to the x-axis.
# 平行于X轴。
verticalAngle = ((self.doublePi * j) /
self.m_arrowsPerLine) + self.m_angleOffset
xUnrotated = self.ellipse_a * math.cos(verticalAngle)
y = self.ellipse_b * math.sin(verticalAngle)
# Rotate the ellipse around the y-axis.
# 围绕Y轴旋转椭圆。
xRotated = xUnrotated * math.cos(horizontalAngle)
zRotated = xUnrotated * math.sin(horizontalAngle)
# Add the offset.
# 添加偏移量。
x = xCenter + xRotated
z = zCenter + zRotated
zRotation = QQuaternion.fromAxisAndAngle(
0.0, 0.0, 1.0, verticalAngle * self.radiansToDegrees)
totalRotation = yRotation * zRotation
itm = QScatterDataItem(QVector3D(x, y, z), totalRotation)
magneticFieldArray.append(itm)
if self.m_graph.selectedSeries() is self.m_magneticField:
self.m_graph.clearSelection()
self.m_magneticField.dataProxy().resetArray(magneticFieldArray)
def mouseMoveEvent(self, event):
"""
Called by the Qt libraries whenever the window receives a mouse
move/drag event.
"""
btns = event.buttons()
# pixel coordinates relative to the window
x = event.localPos().x()
y = event.localPos().y()
if btns & Qt.LeftButton:
# Rotation via emulated trackball using quaternions.
# For method employed see:
# https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation
# get current vector from sphere/trackball center to surface
mouse_rotation_current_vec = self._find_trackball_vector(x, y)
# get the angle between the vector which was stored at the
# time of mouse click and the current vector
angle_between = PainterWidget.angle_between(
mouse_rotation_current_vec,
self._mouse_rotation_start_vec)
angle_between *= 20 # arbitrary amplification for faster rotation
# get the rotation axis which is perpendicular to both vectors
rotation_axis = QVector3D.crossProduct(
self._mouse_rotation_start_vec,
mouse_rotation_current_vec)
# create a rotated normalized quaternion corresponding to the
# drag distance travelled by the mouse since the click
delta = QQuaternion.fromAxisAndAngle(rotation_axis, angle_between)
delta.normalize()
# rotate self._rotation_quat (used to rotate the View matrix)
self._rotation_quat = delta * self._rotation_quat_start
self._rotation_quat.normalize()
elif btns & Qt.MidButton:
# Translation left/right and up/down depending on camera orientation
diff = QVector3D(x, y, 0) - self._mouse_translation_start_vec
diff_x = diff[0]
diff_y = diff[1]
self._translation_vec = self._translation_vec_start - self.cam_right * diff_x * 2 + self.cam_up * diff_y * 2
elif btns & Qt.RightButton:
# Translation forward/backward depending on camera orientation
diff_y = y - self._mouse_camforward_start
self._translation_vec = self._translation_vec_start - self.cam_look * diff_y * 2
# re-draw at next timer tick
self.dirty = True
def rotation(self):
"""Returns rotation quarternion"""
if self._paused or self._pressed:
return self._rotation
currentTime = QTime.currentTime()
angle = self._angularVelocity * self._lastTime.msecsTo(currentTime)
return QQuaternion.fromAxisAndAngle(self._axis, angle) * self._rotation
def move(self, point, quat):
"""Move trackball"""
if not self._pressed:
return
currentTime = QTime.currentTime()
msecs = self._lastTime.msecsTo(currentTime)
if msecs <= 20:
return
if self._mode == self.TrackballMode.Planar:
delta = QLineF(self._lastPos, point)
self._angularVelocity = 180.0 * delta.length() / (math.pi * msecs)
self._axis = QVector3D(-delta.dy(), delta.dx(), 0.0).normalized()
self._axis = quat.rotatedVector(self._axis)
self._rotation = QQuaternion.fromAxisAndAngle(self._axis, 180.0 / math.pi * delta.length()) * self._rotation
elif self._mode == self.TrackballMode.Spherical:
lastPos3D = QVector3D(self._lastPos.x(), self._lastPos.y(), 0.0)
sqrZ = 1.0 - QVector3D.dotProduct(lastPos3D, lastPos3D)
if sqrZ > 0:
lastPos3D.setZ(math.sqrt(sqrZ))
else:
lastPos3D.normalize()
currentPos3D = QVector3D(point.x(), point.y(), 0.0)
sqrZ = 1.0 - QVector3D.dotProduct(currentPos3D, currentPos3D)
if sqrZ > 0:
currentPos3D.setZ(math.sqrt(sqrZ))
else:
currentPos3D.normalize()
self._axis = QVector3D.crossProduct(lastPos3D, currentPos3D)
angle = 180.0 / math.pi * math.asin(math.sqrt(QVector3D.dotProduct(self._axis, self._axis)))
self._angularVelocity = angle / msecs
self._axis.normalize()
self._axis = quat.rotatedVector(self._axis)
self._rotation = QQuaternion.fromAxisAndAngle(self._axis, angle) * self._rotation
self._lastPos = point
self._lastTime = currentTime
def createScene():
# Root entity
rootEntity = QEntity()
# Material
material = QPhongMaterial(rootEntity)
# Torus
torusEntity = QEntity(rootEntity)
# Qt3DExtras.QTorusMesh *
torusMesh = QTorusMesh()
torusMesh.setRadius(5)
torusMesh.setMinorRadius(1)
torusMesh.setRings(100)
torusMesh.setSlices(20)
# Qt3DCore.QTransform *
torusTransform = QTransform()
torusTransform.setScale3D(QVector3D(1.5, 1, 0.5))
torusTransform.setRotation(
QQuaternion.fromAxisAndAngle(QVector3D(1, 0, 0), 45.0))
torusEntity.addComponent(torusMesh)
torusEntity.addComponent(torusTransform)
torusEntity.addComponent(material)
# Sphere
sphereEntity = QEntity(rootEntity)
sphereMesh = QSphereMesh()
sphereMesh.setRadius(3)
# Qt3DCore.QTransform *
sphereTransform = QTransform()
# OrbitTransformController *
controller = OrbitTransformController(sphereTransform)
controller.setTarget(sphereTransform)
controller.setRadius(20.0)
# QPropertyAnimation *
sphereRotateTransformAnimation = QPropertyAnimation(sphereTransform)
sphereRotateTransformAnimation.setTargetObject(controller)
sphereRotateTransformAnimation.setPropertyName(b"angle")
sphereRotateTransformAnimation.setStartValue(0)
sphereRotateTransformAnimation.setEndValue(360)
sphereRotateTransformAnimation.setDuration(10000)
sphereRotateTransformAnimation.setLoopCount(-1)
sphereRotateTransformAnimation.start()
sphereEntity.addComponent(sphereMesh)
sphereEntity.addComponent(sphereTransform)
sphereEntity.addComponent(material)
return rootEntity
def createScene(self):
# root
rootEntity = QSkyboxEntity()
material = QPhongMaterial(rootEntity)
#skybox = QSkyboxEntity(rootEntity)
# torus
cubeEntity = QEntity(rootEntity)
cubeMesh = QCuboidMesh()
cubeTransform = QTransform()
#cubeMaterial = getRgbCubeMaterial(cubeEntity)
cubeMaterial = QPhongMaterial(cubeEntity)
cubeTransform.setTranslation(QVector3D(5.0, -4.0, 0.0))
cubeTransform.setScale(4.0)
cubeTransform.setRotation(QQuaternion.fromAxisAndAngle(QVector3D(1, 0, 0), 45))
cubeEntity.addComponent(cubeMesh)
cubeEntity.addComponent(cubeTransform)
cubeEntity.addComponent(cubeMaterial)
return rootEntity
def create_matrix(model, links, frames, bf):
# ローカル位置
trans_vs = [QVector3D() for i in range(len(links))]
# 加算用クォータニオン
add_qs = [QQuaternion() for i in range(len(links))]
for lidx, lbone in enumerate(reversed(links)):
# 位置
if lidx == 0:
# 一番親は、グローバル座標を考慮
trans_vs[lidx] = lbone.position + calc_bone_by_complement(
frames, lbone.name, bf.frame).position
else:
# 位置：自身から親の位置を引いた値
trans_vs[lidx] = lbone.position + calc_bone_by_complement(
frames, lbone.name,
bf.frame).position - links[len(links) - lidx].position
# 回転
rot = calc_bone_by_complement(frames, lbone.name, bf.frame).rotation
if lbone.fixed_axis != QVector3D():
# 軸固定の場合、回転を制限する
rot = QQuaternion.fromAxisAndAngle(lbone.fixed_axis,
rot.lengthSquared())
add_qs[lidx] = rot
# if "ひじ" in lbone.name:
# # 右手系→左手系への変換
# # trans_vs[lidx].setX(trans_vs[lidx].x() * -1)
# add_qs[lidx].setX(add_qs[lidx].x() * -1)
# add_qs[lidx].setY(add_qs[lidx].y() * -1)
# # add_qs[lidx].setScalar(add_qs[lidx].scalar() * -1)
# # logger.info("%s: fix: %s, vs: %s, qs: %s", lbone.name, lbone.fixed_axis, trans_vs[lidx], add_qs[lidx].toEulerAngles())
# logger.info("trans_vs[%s]: %s", lidx, trans_vs[lidx])
# logger.info("add_qs[%s]: %s", lidx, add_qs[lidx])
# 行列
matrixs = [QMatrix4x4() for i in range(len(links))]
for n in range(len(matrixs)):
# 行列を生成
matrixs[n] = QMatrix4x4()
# 移動
matrixs[n].translate(trans_vs[n])
# 回転
matrixs[n].rotate(add_qs[n])
# logger.info("matrixs n: %s, %s", n, matrixs[n])
# 各関節の位置
global_4ds = [QVector4D() for i in range(len(links))]
for n in range(len(global_4ds)):
for m in range(n):
if m == 0:
# 0番目の位置を初期値とする
global_4ds[n] = copy.deepcopy(matrixs[0])
else:
# 自分より前の行列結果を掛け算する
global_4ds[n] *= copy.deepcopy(matrixs[m])
# 自分は、位置だけ掛ける
global_4ds[n] *= QVector4D(trans_vs[n], 1)
# if bf.frame == 0:
# logger.info("global_4ds %s, %s, %s", n, links[len(links) - n - 1].name, global_4ds[n].toVector3D())
return trans_vs, add_qs, matrixs, global_4ds
def roll(self, _eye, _up, delta):
self.up = QQuaternion.fromAxisAndAngle(self._center - _eye, delta).rotatedVector(_up)
def pan_tilt(self, _eye, _up, dx, dy):
_front = self._center - _eye
_right = QVector3D.crossProduct(_front, _up).normalized()
q = QQuaternion.fromAxisAndAngle(_up, dx) * QQuaternion.fromAxisAndAngle(_right, dy)
self.eye = self._center - q.rotatedVector(_front)
self.up = q.rotatedVector(_up)
def qFromAA(self, axis, angle_rad):
return QQuaternion.fromAxisAndAngle(axis, math.degrees(angle_rad))
def __init__(self, rootEntity):
super(SceneModifier, self).__init__(rootEntity)
# Torus shape data
self.m_torus = Qt3DExtras.QTorusMesh()
self.m_torus.setRadius(1.0)
self.m_torus.setMinorRadius(0.4)
self.m_torus.setRings(100)
self.m_torus.setSlices(20)
# TorusMesh Transform
torusTransform = Qt3DCore.QTransform()
torusTransform.setScale(2.0)
torusTransform.setRotation(QQuaternion.fromAxisAndAngle(QVector3D(0.0, 1.0, 0.0), 25.0))
torusTransform.setTranslation(QVector3D(5.0, 4.0, 0.0))
torusMaterial = Qt3DExtras.QPhongMaterial()
torusMaterial.setDiffuse(QColor('#beb32b'))
# Torus
self.m_torusEntity = Qt3DCore.QEntity(rootEntity)
self.m_torusEntity.addComponent(self.m_torus)
self.m_torusEntity.addComponent(torusMaterial)
self.m_torusEntity.addComponent(torusTransform)
# Cone shape data
cone = Qt3DExtras.QConeMesh()
cone.setTopRadius(0.5)
cone.setBottomRadius(1)
cone.setLength(3)
cone.setRings(50)
cone.setSlices(20)
# ConeMesh Transform
coneTransform = Qt3DCore.QTransform()
coneTransform.setScale(1.5)
coneTransform.setRotation(QQuaternion.fromAxisAndAngle(QVector3D(1.0, 0.0, 0.0), 45.0))
coneTransform.setTranslation(QVector3D(0.0, 4.0, -1.5))
coneMaterial = Qt3DExtras.QPhongMaterial()
coneMaterial.setDiffuse(QColor('#928327'))
# Cone
self.m_coneEntity = Qt3DCore.QEntity(rootEntity)
self.m_coneEntity.addComponent(cone)
self.m_coneEntity.addComponent(coneMaterial)
self.m_coneEntity.addComponent(coneTransform)
# Cylinder shape data
cylinder = Qt3DExtras.QCylinderMesh()
cylinder.setRadius(1)
cylinder.setLength(3)
cylinder.setRings(100)
cylinder.setSlices(20)
# CylinderMesh Transform
cylinderTransform = Qt3DCore.QTransform()
cylinderTransform.setScale(1.5)
cylinderTransform.setRotation(QQuaternion.fromAxisAndAngle(QVector3D(1.0, 0.0, 0.0), 45.0))
cylinderTransform.setTranslation(QVector3D(-5.0, 4.0, -1.5))
cylinderMaterial = Qt3DExtras.QPhongMaterial()
cylinderMaterial.setDiffuse(QColor('#928327'))
# Cylinder
self.m_cylinderEntity = Qt3DCore.QEntity(rootEntity)
self.m_cylinderEntity.addComponent(cylinder)
self.m_cylinderEntity.addComponent(cylinderMaterial)
self.m_cylinderEntity.addComponent(cylinderTransform)
# Cuboid shape data
cuboid = Qt3DExtras.QCuboidMesh()
# CuboidMesh Transform
cuboidTransform = Qt3DCore.QTransform()
cuboidTransform.setScale(4.0)
cuboidTransform.setTranslation(QVector3D(5.0, -4.0, 0.0))
cuboidMaterial = Qt3DExtras.QPhongMaterial()
cuboidMaterial.setDiffuse(QColor('#665423'))
# Cuboid
self.m_cuboidEntity = Qt3DCore.QEntity(rootEntity)
self.m_cuboidEntity.addComponent(cuboid)
self.m_cuboidEntity.addComponent(cuboidMaterial)
self.m_cuboidEntity.addComponent(cuboidTransform)
# Plane shape data
planeMesh = Qt3DExtras.QPlaneMesh()
planeMesh.setWidth(2)
planeMesh.setHeight(2)
# Plane mesh transform
planeTransform = Qt3DCore.QTransform()
planeTransform.setScale(1.3)
planeTransform.setRotation(QQuaternion.fromAxisAndAngle(QVector3D(1.0, 0.0, 0.0), 45.0))
planeTransform.setTranslation(QVector3D(0.0, -4.0, 0.0))
planeMaterial = Qt3DExtras.QPhongMaterial()
planeMaterial.setDiffuse(QColor('#a69929'))
# Plane
self.m_planeEntity = Qt3DCore.QEntity(rootEntity)
self.m_planeEntity.addComponent(planeMesh)
self.m_planeEntity.addComponent(planeMaterial)
self.m_planeEntity.addComponent(planeTransform)
# Sphere shape data
sphereMesh = Qt3DExtras.QSphereMesh()
sphereMesh.setRings(20)
sphereMesh.setSlices(20)
sphereMesh.setRadius(2)
# Sphere mesh transform
sphereTransform = Qt3DCore.QTransform()
sphereTransform.setScale(1.3)
sphereTransform.setTranslation(QVector3D(-5.0, -4.0, 0.0))
sphereMaterial = Qt3DExtras.QPhongMaterial()
sphereMaterial.setDiffuse(QColor('#a69929'))
# Sphere
m_sphereEntity = Qt3DCore.QEntity(rootEntity)
m_sphereEntity.addComponent(sphereMesh)
m_sphereEntity.addComponent(sphereMaterial)
m_sphereEntity.addComponent(sphereTransform)