66 lines
2.1 KiB
Python
66 lines
2.1 KiB
Python
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import math as math
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import numpy as np
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def lookAt(eyeX,eyeY,eyeZ,cX,cY,cZ,upX,upY,upZ):
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F = np.matrix([cX-eyeX,cY-eyeY,cZ-eyeZ])
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UP = np.matrix([upX,upY,upZ])
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f = F / math.sqrt(np.sum(np.square(F)))
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UP = UP / math.sqrt(np.sum(np.square(UP)))
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s = np.cross(f,UP)
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u = np.cross((s/math.sqrt(np.sum(np.square(s)))),f)
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mat = np.matrix([
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[s[0,0],s[0,1],s[0,2],0],
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[u[0,0],u[0,1],u[0,2],0],
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[-f[0,0],-f[0,1],-f[0,2],0],
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[0,0,0,1]
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])
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return np.transpose(mat)
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def orthogonalMatrix(r,l,t,b,f,n):
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mat = np.matrix([
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[2/(r-l),0,0,-(r+l)/(r-l)],
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[0,2/(t-b),0,-(t+b)/(t-b)],
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[0,0,-2/(f-n),-(f+n)/(f-n)],
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[0,0,0,1]
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])
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return np.transpose(mat)
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def perspectiveMatrix(fovy,aspect,znear,zfar):
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fovy_rads = fovy*math.pi/180
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f = math.cos(fovy_rads/2.0)/math.sin(fovy_rads/2.0)
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a = (zfar+znear)/(znear-zfar)
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b = (2 * zfar * znear) / (znear - zfar)
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mat = np.matrix([[f/aspect,0,0,0],
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[0,f,0,0],
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[0,0,a,b],
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[0,0,-1,0]],np.float32)
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return np.transpose(mat)
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def translate(x, y, z):
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mat = np.matrix([[1, 0, 0, x],
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[0, 1, 0, y],
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[0, 0, 1, z],
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[0, 0, 0, 1]], np.float32)
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return np.transpose(mat)
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def rotate(x,y,z,d4 = False):
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if not d4:
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mat = np.matrix([[1, 0, 0], [0, math.cos(x), -math.sin(x)], [0, math.sin(x), math.cos(x)]], np.float32)
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mat = mat * np.matrix([[math.cos(y), 0, -math.sin(y)], [0, 1, 0], [math.sin(y), 0, math.cos(y)]], np.float32)
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mat = mat * np.matrix([[math.cos(z), -math.sin(z), 0], [math.sin(z), math.cos(z), 0], [0, 0, 1]], np.float32)
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else:
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mat = np.matrix([[1, 0, 0, 0], [0, math.cos(x), -math.sin(x), 0], [0, math.sin(x), math.cos(x), 0], [0, 0, 0, 1]], np.float32)
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mat = mat * np.matrix([[math.cos(y), 0, -math.sin(y), 0], [0, 1, 0, 0], [math.sin(y), 0, math.cos(y), 0], [0, 0, 0, 1]], np.float32)
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mat = mat * np.matrix([[math.cos(z), -math.sin(z), 0, 0], [math.sin(z), math.cos(z), 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]], np.float32)
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return np.transpose(mat)
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