def setup_model_matrix(matrix: QMatrix4x4, rotation: np.ndarray, translation: np.ndarray) -> None:
matrix.setToIdentity()
# Translate matrix (translation = rotation_center)
matrix.translate(*translation)
# Rotate matrix
matrix.rotate(rotation[0], 1.0, 0.0, 0.0)
matrix.rotate(rotation[1], 0.0, 1.0, 0.0)
matrix.rotate(rotation[2], 0.0, 0.0, 1.0)
# Restore matrix
matrix.translate(*-translation)
def setup_view_matrix(matrix: QMatrix4x4, camera: iter) -> None:
matrix.setToIdentity()
matrix.translate(*-camera)