def __init__(
self,
position=(0.0, 0.0, 1.0),
focus=(0.0, 0.0, 0.0),
up=(0.0, 1.0, 0.0),
fov=45.0,
near_plane=0.01,
far_plane=20.0,
aspect_ratio=8.0 / 6.0,
):
super(TrackballCamera, self).__init__(
position=position,
focus=focus,
up=up,
fov=fov,
near_plane=near_plane,
far_plane=far_plane,
aspect_ratio=aspect_ratio,
)
self.view_matrix = get_lookat_matrix(self.position, self.focus,
self.up)
rotation_matrix = self.view_matrix[0:3, 0:3]
self.orientation = rotation_matrix_to_quaternion(rotation_matrix)
def _update_matrices(self):
self.view_matrix = get_lookat_matrix(self.position, self.focus,
self.up)
self.orientation = rotation_matrix_to_quaternion(self.view_matrix[0:3,
0:3])
self.projection_matrix = self.proj_func(self.fov, self.aspect_ratio,
self.near_plane,
self.far_plane)
def compute_matrices(self):
rotation_matrix = quaternion_to_rotation_matrix(self.orientation)
dp = np.linalg.norm(self.position - self.focus) * rotation_matrix[2]
self.position = dp + self.focus
self.up = rotation_matrix[1]
self.view_matrix = get_lookat_matrix(self.position, self.focus,
self.up)
self.projection_matrix = self.proj_func(self.fov, self.aspect_ratio,
self.near_plane,
self.far_plane)
def update_orientation(self, start_x, start_y, end_x, end_y):
self.orientation = update_orientation(self.orientation, start_x,
start_y, end_x, end_y)
rotation_matrix = quaternion_to_rotation_matrix(self.orientation)
dp = np.linalg.norm(self.position - self.focus) * rotation_matrix[2]
self.position = dp + self.focus
self.up = rotation_matrix[1]
self.view_matrix = get_lookat_matrix(self.position, self.focus,
self.up)
self.projection_matrix = self.proj_func(self.fov, self.aspect_ratio,
self.near_plane,
self.far_plane)
def offset_position(self, dpos=None):
if dpos is None:
dpos = np.array([0.0, 0.0, 0.0])
self.position += dpos
self.view_matrix = get_lookat_matrix(self.position, self.focus,
self.up)
def _default_view_matrix(self):
return get_lookat_matrix(self.position, self.focus, self.up)
