def update_vectors(self):
"override base class"
yawRadian = math.radians(self.yaw)
yawCos = math.cos(yawRadian)
pitchRadian = math.radians(self.pitch)
pitchCos = math.cos(pitchRadian)
frontX = yawCos * pitchCos
frontY = math.sin(pitchRadian)
frontZ = math.sin(yawRadian) * pitchCos
self.front = QVector3D(frontX, frontY, frontZ)
self.front.normalize()
self.right = QVector3D.crossProduct(self.front, self.worldUp)
self.right.normalize()
self.up = QVector3D.crossProduct(self.right, self.front)
self.up.normalize()
def updateCameraVectors(self):
"Update the camera vectors and compute a new front"
yawRadian = np.radians(self.yaw)
yawCos = np.cos(yawRadian)
pitchRadian = np.radians(self.pitch)
pitchCos = np.cos(pitchRadian)
frontX = yawCos * pitchCos
frontY = np.sin(pitchRadian)
frontZ = np.sin(yawRadian) * pitchCos
self.front = QVector3D(frontX, frontY, frontZ)
self.front.normalize()
self.right = QVector3D.crossProduct(self.front, self.worldUp)
self.right.normalize()
self.up = QVector3D.crossProduct(self.right, self.front)
self.up.normalize()
def computeFrontRightQt(yaw: float,
pitch: float,
worldUp=QVector3D(0.0, 1.0, 0.0)):
""
yawRadian = math.radians(yaw)
yawCos = math.cos(yawRadian)
pitchRadian = math.radians(pitch)
pitchCos = math.cos(pitchRadian)
frontX = yawCos * pitchCos
frontY = math.sin(pitchRadian)
frontZ = math.sin(yawRadian) * pitchCos
front = QVector3D(frontX, frontY, frontZ)
front.normalize()
right = QVector3D.crossProduct(front, worldUp)
right.normalize()
up = QVector3D.crossProduct(right, front)
up.normalize()
return (front, right, up)
def _rotation_matrix(self) -> QMatrix4x4:
"""
:return: A QMatrix4x4 describing the rotation from the Z axis to the cylinder's axis
"""
default_axis = QVector3D(0, 0, 1)
desired_axis = self.axis_direction.normalized()
rotate_axis = QVector3D.crossProduct(desired_axis, default_axis)
rotate_radians = acos(QVector3D.dotProduct(desired_axis, default_axis))
rotate_matrix = QMatrix4x4()
rotate_matrix.rotate(degrees(rotate_radians), rotate_axis)
return rotate_matrix
def createRotation(self, firstPoint, nextPoint):
lastPos3D = self.projectToTrackball(firstPoint).normalized()
currentPos3D = self.projectToTrackball(nextPoint).normalized()
angle = acos(self.clamp(QVector3D.dotProduct(currentPos3D, lastPos3D)))
direction = QVector3D.crossProduct(currentPos3D, lastPos3D)
return angle, direction
def _currentUp(self):
return vec3d.crossProduct( self.rightVector, self.camCenter - self.camLoc ).normalized()
