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4
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1 #TODO: find/learn to use a proper lib
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2
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3 from math import sin, cos
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4
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5 class Matrix(object):
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6 def __init__(self):
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7 self.data = [[0] * 4 for i in xrange(4)]
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8
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9
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10 def mult(self, other_matrix):
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11 result = Matrix()
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12 for i in xrange(4):
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13 for j in xrange(4):
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14 result.data[i][j] = sum(self.data[i][a] * other_matrix.data[a][j] for a in xrange(4))
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15 return result
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16
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17
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18 @classmethod
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19 def get_translation_matrix(cls, x, y, z):
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20 matrix = cls()
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21 matrix.data[0][0] = 1
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22 matrix.data[1][1] = 1
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23 matrix.data[2][2] = 1
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24 matrix.data[3][3] = 1
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25 matrix.data[0][3] = x
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26 matrix.data[1][3] = y
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27 matrix.data[2][3] = z
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28 return matrix
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29
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30
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31 @classmethod
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32 def get_scaling_matrix(cls, x, y, z):
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33 matrix = cls()
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34 matrix.data[0][0] = x
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35 matrix.data[1][1] = y
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36 matrix.data[2][2] = z
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37 matrix.data[3][3] = 1
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38 return matrix
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39
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40
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41 @classmethod
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42 def get_rotation_matrix(cls, angle, axis):
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43 """Only handles axis = x, y or z."""
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44 matrix = cls()
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45 matrix.data[3][3] = 1
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46 if axis == 'x':
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47 matrix.data[0][0] = 1
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48 matrix.data[1][1] = cos(angle)
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49 matrix.data[1][2] = -sin(angle)
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50 matrix.data[2][1] = sin(angle)
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51 matrix.data[2][2] = cos(angle)
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52 elif axis == 'y':
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53 matrix.data[0][0] = cos(angle)
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54 matrix.data[0][2] = sin(angle)
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55 matrix.data[2][0] = -sin(angle)
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56 matrix.data[2][2] = cos(angle)
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57 matrix.data[1][1] = 1
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58 elif axis == 'z':
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59 matrix.data[0][0] = cos(angle)
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60 matrix.data[0][1] = -sin(angle)
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61 matrix.data[1][0] = sin(angle)
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62 matrix.data[1][1] = cos(angle)
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63 matrix.data[2][2] = 1
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64 else:
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65 raise Exception
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66 return matrix
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