def addTransform(self):
# correct orientation
self.scannerTransform.setScale3D(QVector3D(100, 100, 100))
self.orientation = QQuaternion(self.qw, self.qx, self.qy, self.qz)
self.axisCorrection = QQuaternion.fromEulerAngles(0, 180, 90)
self.modelCorrection = QQuaternion.fromEulerAngles(-90, 0, 90)
self.modelRotation = self.orientation * self.axisCorrection
self.correctedOrientation = self.modelCorrection * self.modelRotation
self.scannerTransform.setRotation(self.correctedOrientation)
self.scannerEntity.addComponent(self.scannerTransform)
def rotate(self, lastPosition, currentPosition, dt):
angle, direction = self.createRotation(lastPosition, currentPosition)
rotatedAxis = self._camera.transform().rotation().rotatedVector(
direction)
angle *= self._rotationSpeed * dt
self._camera.rotateAboutViewCenter(
QQuaternion.fromAxisAndAngle(rotatedAxis, angle * pi * 180))
def anglesSphToQuaternion(phi, theta):
x = sin(radians(theta)) * cos(radians(phi))
y = sin(radians(theta)) * sin(radians(phi))
z = cos(radians(theta))
fromVec = QVector3D(1, 0, 0)
toVec = QVector3D(x, y, z)
return QQuaternion.rotationTo(fromVec, toVec)
def quaternionfromAxisAndAngle(theta, qvector3D=QVector3D(0, 0, 0)):
provVect = (qvector3D.normalized())
s = sin(radians(theta / 2))
directionRot = QVector3D(s * provVect.x(), s * provVect.y(),
s * provVect.z())
quat = QQuaternion(cos(radians(theta / 2)), directionRot.x(),
directionRot.y(), directionRot.z())
return quat
def rotation(self):
""" Get the camera rotation as a quaternion. """
if self._R is None:
return None
rot = QMatrix3x3([
self._R[0], -self._R[1], -self._R[2], self._R[3], -self._R[4],
-self._R[5], self._R[6], -self._R[7], -self._R[8]
])
return QQuaternion.fromRotationMatrix(rot)
def origin(self):
super(ViewCamera, self).origin()
t = self.view.position()
self.move(t[0], t[1], t[2])
r = self.view.rotation[0:3, 0:3].copy()
r[1:3, :] = -r[1:3, :]
euler = QQuaternion.fromRotationMatrix(QMatrix3x3(list(
r.T.flat))).toEulerAngles()
self.orient(-euler.y(), -euler.x(), -euler.z())
self.atOrigin = True
self.changed = True
self.moved = True
def createScene(self):
# Root entity
self.rootEntity = Qt3DCore.QEntity()
# Material
self.material = Qt3DExtras.QPhongMaterial(self.rootEntity)
# Torus
self.torusEntity = Qt3DCore.QEntity(self.rootEntity)
self.torusMesh = Qt3DExtras.QTorusMesh()
self.torusMesh.setRadius(5)
self.torusMesh.setMinorRadius(1)
self.torusMesh.setRings(100)
self.torusMesh.setSlices(20)
self.torusTransform = Qt3DCore.QTransform()
self.torusTransform.setScale3D(QVector3D(1.5, 1, 0.5))
self.torusTransform.setRotation(
QQuaternion.fromAxisAndAngle(QVector3D(1, 0, 0), 45))
self.torusEntity.addComponent(self.torusMesh)
self.torusEntity.addComponent(self.torusTransform)
self.torusEntity.addComponent(self.material)
# Sphere
self.sphereEntity = Qt3DCore.QEntity(self.rootEntity)
self.sphereMesh = Qt3DExtras.QSphereMesh()
self.sphereMesh.setRadius(3)
self.sphereTransform = Qt3DCore.QTransform()
self.controller = OrbitTransformController(self.sphereTransform)
self.controller.setTarget(self.sphereTransform)
self.controller.setRadius(20)
self.sphereRotateTransformAnimation = QPropertyAnimation(
self.sphereTransform)
self.sphereRotateTransformAnimation.setTargetObject(self.controller)
self.sphereRotateTransformAnimation.setPropertyName("angle")
self.sphereRotateTransformAnimation.setStartValue(0)
self.sphereRotateTransformAnimation.setEndValue(360)
self.sphereRotateTransformAnimation.setDuration(10000)
self.sphereRotateTransformAnimation.setLoopCount(-1)
self.sphereRotateTransformAnimation.start()
self.sphereEntity.addComponent(self.sphereMesh)
self.sphereEntity.addComponent(self.sphereTransform)
self.sphereEntity.addComponent(self.material)
def createScene(self):
# Root entity
self.rootEntity = Qt3DCore.QEntity()
# Material
self.material = Qt3DExtras.QPhongMaterial(self.rootEntity)
# Torus
self.torusEntity = Qt3DCore.QEntity(self.rootEntity)
self.torusMesh = Qt3DExtras.QTorusMesh()
self.torusMesh.setRadius(5)
self.torusMesh.setMinorRadius(1)
self.torusMesh.setRings(100)
self.torusMesh.setSlices(20)
self.torusTransform = Qt3DCore.QTransform()
self.torusTransform.setScale3D(QVector3D(1.5, 1, 0.5))
self.torusTransform.setRotation(QQuaternion.fromAxisAndAngle(QVector3D(1, 0, 0), 45))
self.torusEntity.addComponent(self.torusMesh)
self.torusEntity.addComponent(self.torusTransform)
self.torusEntity.addComponent(self.material)
# Sphere
self.sphereEntity = Qt3DCore.QEntity(self.rootEntity)
self.sphereMesh = Qt3DExtras.QSphereMesh()
self.sphereMesh.setRadius(3)
self.sphereTransform = Qt3DCore.QTransform()
self.controller = OrbitTransformController(self.sphereTransform)
self.controller.setTarget(self.sphereTransform)
self.controller.setRadius(20)
self.sphereRotateTransformAnimation = QPropertyAnimation(self.sphereTransform)
self.sphereRotateTransformAnimation.setTargetObject(self.controller)
self.sphereRotateTransformAnimation.setPropertyName(b"angle")
self.sphereRotateTransformAnimation.setStartValue(0)
self.sphereRotateTransformAnimation.setEndValue(360)
self.sphereRotateTransformAnimation.setDuration(10000)
self.sphereRotateTransformAnimation.setLoopCount(-1)
self.sphereRotateTransformAnimation.start()
self.sphereEntity.addComponent(self.sphereMesh)
self.sphereEntity.addComponent(self.sphereTransform)
self.sphereEntity.addComponent(self.material)
def decomposeModelMatrix(self, modelMat):
""" Decompose a model matrix into individual component.
Args:
modelMat (QMatrix4x4): model matrix to decompose
Returns:
QVariant: object containing translation and scale vectors + rotation quaternion
"""
translation = modelMat.column(3).toVector3D()
quaternion = QQuaternion.fromDirection(
modelMat.column(2).toVector3D(),
modelMat.column(1).toVector3D())
scale = QVector3D(
modelMat.column(0).length(),
modelMat.column(1).length(),
modelMat.column(2).length())
return {
"translation": translation,
"quaternion": quaternion,
"scale": scale
}
def computeModelMatrixWithEuler(self, translation, rotation, scale):
""" Compute a model matrix from three Vector3D.
Args:
translation (QVector3D): position in space (x, y, z)
rotation (QVector3D): Euler angles in degrees (x, y, z)
scale (QVector3D): scale of the object (x, y, z)
Returns:
QMatrix4x4: corresponding model matrix
"""
posMat = QMatrix4x4()
posMat.translate(translation)
quaternion = QQuaternion.fromEulerAngles(rotation)
rotMat = self.quaternionToRotationMatrix(quaternion)
scaleMat = QMatrix4x4()
scaleMat.scale(scale)
modelMat = posMat * rotMat * scaleMat
return modelMat
def relativeLocalRotate(self, transformQtInstance, initialPosMat,
initialRotQuat, initialScaleMat, axis, degree):
""" Rotate the QTransform in its local space relatively to an initial state.
Args:
transformQtInstance (QTransform): reference to the Transform to modify
initialPosMat (QMatrix4x4): initial position matrix
initialRotQuat (QQuaternion): initial rotation quaternion
initialScaleMat (QMatrix4x4): initial scale matrix
axis (QVector3D): axis to rotate around
degree (int): angle of rotation in degree
"""
# Compute the transformation quaternion from axis and angle in degrees
transformQuat = QQuaternion.fromAxisAndAngle(axis, degree)
# Compute the new rotation quaternion and then calculate the matrix
newRotQuat = initialRotQuat * transformQuat # Order is important
newRotationMat = self.quaternionToRotationMatrix(newRotQuat)
# Compute the new model matrix (POSITION * NEW_COMPUTED_ROTATION * SCALE) and set it to the Transform
mat = initialPosMat * newRotationMat * initialScaleMat
transformQtInstance.setMatrix(mat)
def createScene(self):
# Root entity
self.rootEntity = Qt3DCore.QEntity()
# Material
self.material = Qt3DExtras.QPhongMaterial(self.rootEntity)
# Torus
self.torusEntity = Qt3DCore.QEntity(self.rootEntity)
self.torusMesh = Qt3DExtras.QTorusMesh()
self.torusMesh.setRadius(5)
self.torusMesh.setMinorRadius(1)
self.torusMesh.setRings(100)
self.torusMesh.setSlices(20)
self.torusTransform = Qt3DCore.QTransform()
self.torusTransform.setScale3D(QVector3D(1.5, 1, 0.5))
self.torusTransform.setRotation(
QQuaternion.fromAxisAndAngle(QVector3D(1, 0, 0), 45))
self.torusEntity.addComponent(self.torusMesh)
self.torusEntity.addComponent(self.torusTransform)
self.torusEntity.addComponent(self.material)
# Sphere
self.sphereEntity = Qt3DCore.QEntity(self.rootEntity)
self.sphereMesh = Qt3DExtras.QSphereMesh()
self.sphereMesh.setRadius(3)
self.sphereTransform = Qt3DCore.QTransform()
self.controller = OrbitTransformController(self.sphereTransform)
self.controller.setTarget(self.sphereTransform)
self.controller.setRadius(20)
self.sphereEntity.addComponent(self.sphereMesh)
self.sphereEntity.addComponent(self.sphereTransform)
self.sphereEntity.addComponent(self.material)
def setUp(self):
self.original = QQuaternion(1, 2, 3, 4)
def rotateAround(v1, v2, angle):
q = QQuaternion.fromAxisAndAngle(v2, angle)
return q.rotatedVector(v1)
