def mouseMoveEvent(self, event):
pos = event.pos()
# compute point on sphere under pointer
(w, h) = self.viewport
t = (2*self.old_pos.x() - w) / float(w)
u = -(2*self.old_pos.y() - h) / float(h)
# compute inverse of view transform ignoring rotation
m = Matrix44.from_translation(Vector3([0, 0, -self.zoom])) * self.projTransform
m = matrix44.inverse(m)
rayOri = m * Vector3([t, u, -1])
rayEnd = m * Vector3([t, u, 1])
rayDir = rayEnd - rayOri
self.picked = intersectRayUnitSphere(rayOri, rayDir)
# rotate on left-drag
if event.buttons() & QtCore.Qt.LeftButton > 0:
# the rotation vector is the displacement vector rotated by 90 degrees
dx = pos.x() - self.old_pos.x()
dy = pos.y() - self.old_pos.y()
if dx == 0 and dy == 0:
return
v = Vector3([dy, dx, 0])
# update the current orientation
self.layers.multiplyOrientation(Quaternion.from_axis_rotation(
-v.normalised,
-v.length * 0.002,
))
elif event.buttons() & QtCore.Qt.RightButton > 0:
dz = pos.y() - self.old_pos.y()
self.zoom = max(0, self.zoom + dz / 100.0)
self.old_pos = pos
self.update()
def test_operators_matrix44(self):
m1 = Matrix44.identity()
m2 = Matrix44.from_x_rotation(0.5)
# add
self.assertTrue(
np.array_equal(
m1 + m2,
matrix44.create_identity() +
matrix44.create_from_x_rotation(0.5)))
# subtract
self.assertTrue(
np.array_equal(
m1 - m2,
matrix44.create_identity() -
matrix44.create_from_x_rotation(0.5)))
# multiply
self.assertTrue(
np.array_equal(
m1 * m2,
matrix44.multiply(matrix44.create_identity(),
matrix44.create_from_x_rotation(0.5))))
# divide
self.assertRaises(ValueError, lambda: m1 / m2)
# inverse
self.assertTrue(
np.array_equal(
~m2, matrix44.inverse(matrix44.create_from_x_rotation(0.5))))
def test_operators_matrix44(self):
m1 = Matrix44.identity()
m2 = Matrix44.from_x_rotation(0.5)
# add
self.assertTrue(np.array_equal(m1 + m2, matrix44.create_identity() + matrix44.create_from_x_rotation(0.5)))
# subtract
self.assertTrue(np.array_equal(m1 - m2, matrix44.create_identity() - matrix44.create_from_x_rotation(0.5)))
# multiply
self.assertTrue(np.array_equal(m1 * m2, matrix44.multiply(matrix44.create_from_x_rotation(0.5), matrix44.create_identity())))
# divide
self.assertRaises(ValueError, lambda: m1 / m2)
# inverse
self.assertTrue(np.array_equal(~m2, matrix44.inverse(matrix44.create_from_x_rotation(0.5))))
# ==
self.assertTrue(Matrix44() == Matrix44())
self.assertFalse(Matrix44() == Matrix44([1. for n in range(16)]))
# !=
self.assertTrue(Matrix44() != Matrix44([1. for n in range(16)]))
self.assertFalse(Matrix44() != Matrix44())
def model_view(self):
"""Property for the camera's model view matrix.
This is the inverse of the camera's world matrix
and is used as the initial matrix for the model view
matrix.
This is an @property decorated method.
:rtype: numpy.array
:return: A matrix set to the camera's model view
matrix.
"""
# return the inverse of our world matrix
return matrix44.inverse(self.world_transform.matrix)
def model_view( self ):
"""Property for the camera's model view matrix.
This is the inverse of the camera's world matrix
and is used as the initial matrix for the model view
matrix.
This is an @property decorated method.
:rtype: numpy.array
:return: A matrix set to the camera's model view
matrix.
"""
# return the inverse of our world matrix
return matrix44.inverse( self.world_transform.matrix )
def test_inverse(self):
m = matrix44.create_from_y_rotation(np.pi)
result = matrix44.inverse(m)
self.assertTrue(np.allclose(result, matrix44.create_from_y_rotation(-np.pi)))
def test_inverse(self):
m = matrix44.create_from_y_rotation(np.pi)
result = matrix44.inverse(m)
self.assertTrue(
np.allclose(result, matrix44.create_from_y_rotation(-np.pi)))
def test_inverse(self):
m1 = Matrix44.identity() * Matrix44.from_x_rotation(0.5)
m = m1.inverse
self.assertTrue(np.array_equal(m, matrix44.inverse(m1)))
def generate_joint_matrix(joint):
# convert joint position and orientation to a matrix
matrix = matrix44.multiply(
matrix44.create_from_quaternion(joint.orientation),
matrix44.create_from_translation(joint.position))
return matrix44.inverse(matrix)
def test_inverse(self):
m1 = Matrix44.identity() * Matrix44.from_x_rotation(0.5)
m = m1.inverse
self.assertTrue(np.array_equal(m, matrix44.inverse(m1)))
float(atari_height) * zoom, 1.0]))
atari_screen2_translation = pyrr.matrix44.create_from_translation(
pyrr.Vector3([0, 0, -3]))
atari_screen_2 = pyrr.matrix44.multiply(atari_screen2_scale,
atari_screen2_translation)
translation_cut = matrix44.create_from_translation(Vector3([0.0, -34.0, 0.0]))
scale_cut = matrix44.create_from_scale(Vector3([160, 210, 1.0]))
cutout_model = pyrr.matrix44.multiply(scale_cut, translation_cut)
minime_translate = matrix44.create_from_translation(
Vector3([0.0, -34.0 / 210.0, 0.0]))
minime_scale = matrix44.create_from_scale(
Vector3([32.0, (210.0 / (168.0 - 34.0)) * 32.0, 1.0]))
minime_model = matrix44.multiply(minime_translate, minime_scale)
minime_inv_model = matrix44.inverse(minime_model)
transporter_scale = matrix44.create_from_scale(Vector3([32.0, 32.0, 1.0]))
bbox_scale_factor = 16.0 / 0.9
bbox1_model = pyrr.matrix44.create_from_scale(
pyrr.Vector3([bbox_scale_factor, bbox_scale_factor, 1.0]))
model_loc = glGetUniformLocation(shader, "model")
proj_loc = glGetUniformLocation(shader, "projection")
color_model_loc = glGetUniformLocation(white_shader, "model")
color_proj_loc = glGetUniformLocation(white_shader, "projection")
color_loc = glGetUniformLocation(white_shader, "uColor")
# init env
env = gym.make('Pong-v0')
