def omega2thetadot(t, o):
mat1 = Matrix([[1, sin(t[0])*tan(t[1]), cos(t[0])*tan(t[1])],
[0, cos(t[0]), -sin(t[0])],
[0, sin(t[0])/cos(t[1]), cos(t[0])/cos(t[1])]])
#mat1 = [[0, -sin(t[0]), cos(t[0])*cos(t[1])], [0, cos(t[0]), sin(t[0])*cos(t[1])], [1, 0, -sin(t[1])]]
return mat1*o
def computeThetaDot(self, dt):
mat1 = Matrix([[1, sin(self.Angles[0])*tan(self.Angles[1]), cos(self.Angles[0])*tan(self.Angles[1])],
[0, cos(self.Angles[0]), -sin(self.Angles[0])],
[0, sin(self.Angles[0])/cos(self.Angles[1]), cos(self.Angles[0])/cos(self.Angles[1])]])
self.ThetaDot = mat1*self.Omega
from ray import vector3
from ray import ray
from PIL import Image
from PIL import ImageDraw
from objects import face, sphere
from numpy.ma.core import tan
## main process ##
if __name__ == '__main__':
## initialize parameters ##
w = 320
h = 240
PI = 3.14159265
view_angle = 60 * PI / 180.0
view_ratio = tan(view_angle/2) / (w/2.0)
img_size = (w,h)
im = Image.new("RGB", img_size, 'rgb(128,128,128)')
draw = ImageDraw.Draw(im)
## objects in virtual space ##
''' set light '''
light = ray(vector3(1.0,-1.8,5.0), vector3(0.0,1.0,0.0))
''' set eye position'''
eye = vector3(0.0,0.0,-1.0)
''' primitive objects '''
obj_list = []
obj_list.append(face(vector3(0.0,-2.0,0.0), vector3(0.0,1.0,0.0), 255))
obj_list.append(face(vector3(0.0, 2.0,0.0), vector3(0.0,-1.0,0.0), 255<<8))
obj_list.append(face(vector3(-2.0,0.0,0.0), vector3(1.0,0.0,0.0), 255<<16))
obj_list.append(face(vector3( 2.0,0.0,0.0), vector3(-1.0,0.0,0.0), 255 + (255<<8)))
