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path: root/host/simu/utils/trans_matrix.py
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author committer Nicolas Schodet 2011-04-29 20:35:20 +0200 Nicolas Schodet 2011-04-29 20:35:20 +0200 9c9f35753489cba5a61816104ac294857be20941 (patch) ba36dbe8fda70ca491fc499128c6f317c532cbc7 /host/simu/utils/trans_matrix.py de2a1e81eef5054725ae218afaf51dc8e06dedd0 (diff)
host/simu: transpose transformation matrix, reverse transformation order
This is better because transformations can be built incrementally from the container to the contained. This use the same semantic as OpenGL.
Diffstat (limited to 'host/simu/utils/trans_matrix.py')
-rw-r--r--host/simu/utils/trans_matrix.py31
1 files changed, 18 insertions, 13 deletions
 diff --git a/host/simu/utils/trans_matrix.py b/host/simu/utils/trans_matrix.pyindex 12bc7b35..1b582e1b 100644--- a/host/simu/utils/trans_matrix.py+++ b/host/simu/utils/trans_matrix.py@@ -27,8 +27,13 @@ from math import sin, cos, sqrt, atan2 class TransMatrix: """Define a matrix to be used for transformations on the plane. - This is a "special" kind of matrix, because the last column is omitted as- it is always (0, 0, 1)."""+ This is a "special" kind of matrix, because the last line is omitted as+ it is always (0, 0, 1).++ First index is column, last index is line.++ Transformations are done from the last added to the first added, so that+ it can be incrementally constructed for objects contained in others.""" IDENTITY = ((1, 0), (0, 1), (0, 0)) @@ -65,7 +70,7 @@ class TransMatrix: >>> from math import pi >>> a = TransMatrix () >>> a.rotate (pi / 3); a # doctest: +ELLIPSIS- ((0.5..., 0.866...), (-0.866..., 0.5...), (0.0, 0.0))+ ((0.5..., 0.866...), (-0.866..., 0.5...), (0, 0)) """ s = sin (angle) c = cos (angle)@@ -98,17 +103,17 @@ class TransMatrix: >>> a = TransMatrix ((1, 0), (0, 1), (1, 0)) >>> b = TransMatrix ((0, 1), (1, 0), (0, 1)) >>> a *= b; a- ((0, 1), (1, 0), (0, 2))+ ((0, 1), (1, 0), (1, 1)) """ s = self.matrix o = other.matrix self.matrix = (- (s[0][0] * o[0][0] + s[0][1] * o[1][0],- s[0][0] * o[0][1] + s[0][1] * o[1][1]),- (s[1][0] * o[0][0] + s[1][1] * o[1][0],- s[1][0] * o[0][1] + s[1][1] * o[1][1]),- (s[2][0] * o[0][0] + s[2][1] * o[1][0] + o[2][0],- s[2][0] * o[0][1] + s[2][1] * o[1][1] + o[2][1]))+ (s[0][0] * o[0][0] + s[1][0] * o[0][1],+ s[0][1] * o[0][0] + s[1][1] * o[0][1]),+ (s[0][0] * o[1][0] + s[1][0] * o[1][1],+ s[0][1] * o[1][0] + s[1][1] * o[1][1]),+ (s[0][0] * o[2][0] + s[1][0] * o[2][1] + s[2][0],+ s[0][1] * o[2][0] + s[1][1] * o[2][1] + s[2][1])) return self def apply (self, *args):@@ -121,9 +126,9 @@ class TransMatrix: ((20, 40), (21, 42)) """ r = tuple (- (i[0] * self.matrix[0][0] + i[1] * self.matrix[1][0]+ (self.matrix[0][0] * i[0] + self.matrix[1][0] * i[1] + self.matrix[2][0],- i[0] * self.matrix[0][1] + i[1] * self.matrix[1][1]+ self.matrix[0][1] * i[0] + self.matrix[1][1] * i[1] + self.matrix[2][1]) for i in args) if len (args) == 1:@@ -172,7 +177,7 @@ class TransMatrix: ((1, 0), (0, 1), (2, 3)) >>> a.push () >>> a.scale (2); a- ((2, 0), (0, 2), (4, 6))+ ((2, 0), (0, 2), (2, 3)) >>> a.pop () >>> a ((1, 0), (0, 1), (2, 3))