def rotateCam(self, axis, dtheta):
rotation_mat = matrix44.create_from_axis_rotation(axis, dtheta)
self.camLookAt -= self.camPos
newvec = Vector4.from_vector3(self.camLookAt, 1.0)
newvec = rotation_mat.dot(newvec)
self.camLookAt = Vector3.from_vector4(newvec)[0]
self.camLookAt += self.camPos
def calculateMouseRay(self, projectionMatrix, viewMAtrix, screenX, screenY,
mouse_x, mouse_y):
x = (2.0 * mouse_x) / screenX - 1.0
y = 1.0 - (2.0 * mouse_y) / screenY
z = -1.0
D_view = Vector4.from_vector3(Vector3([x, y, z]), w=1.0)
ray_eye = projectionMatrix.inverse * D_view
ray_eye = Vector4([ray_eye.x, ray_eye.y, -1.0, 0.0])
ray_wor = ((viewMAtrix.inverse) * ray_eye).xyz
return Vector3(ray_wor)
def test_conversions(self):
from pyrr import Quaternion, Matrix33, Matrix44, Vector3, Vector4
v3 = Vector3([1.,0.,0.])
v4 = Vector4.from_vector3(v3, w=1.0)
v3, w = Vector3.from_vector4(v4)
m44 = Matrix44()
q = Quaternion(m44)
m33 = Matrix33(q)
m33 = Matrix44().matrix33
m44 = Matrix33().matrix44
q = Matrix44().quaternion
q = Matrix33().quaternion
m33 = Quaternion().matrix33
m44 = Quaternion().matrix44
def test_conversions(self):
from pyrr import Quaternion, Matrix33, Matrix44, Vector3, Vector4
v3 = Vector3([1., 0., 0.])
v4 = Vector4.from_vector3(v3, w=1.0)
v3, w = Vector3.from_vector4(v4)
m44 = Matrix44()
q = Quaternion(m44)
m33 = Matrix33(q)
m33 = Matrix44().matrix33
m44 = Matrix33().matrix44
q = Matrix44().quaternion
q = Matrix33().quaternion
m33 = Quaternion().matrix33
m44 = Quaternion().matrix44
def project_to_img_frame(self, vector, viewMatrix):
clip_space_vector = self.projection * (
viewMatrix * Vector4.from_vector3(vector, w=1.0))
if clip_space_vector.w != 0:
nds_vector = Vector3(clip_space_vector.xyz) / clip_space_vector.w
else: # Clipped
nds_vector = clip_space_vector.xyz
if nds_vector.z >= 1:
return [-1, -1]
viewOffset = 0
image_frame_vector =\
((np.array(nds_vector.xy) + 1.0) /
2.0) * np.array([self.width, self.height]) + viewOffset
# Translate from bottom-left to top-left
image_frame_vector[1] = self.height - image_frame_vector[1]
return image_frame_vector
