For some reason, the cube does not move around the screen, though it spins.
This is with the use of the functions m3dTranslateMatrix44 and m3dRotationMatrix44 though there seems a better way.
Modified rotation_matrix(axis, theta) to produce a 4x4 matrix hopefully correctly.
I think perhaps it may be to create a mv_matrix through the use of numpy multiplication. Done that. But still off a bit.
Update - June 24, 2019: After some explanation and excellent code by Rabbid76 the program is now working as intended. There is rotation and moving around the screen of the cube. Very nice!
#!/usr/bin/python3
import sys
import time
import math
fullscreen = True
# sys.path.append("../shared")
# from math3d import m3dDegToRad, m3dRotationMatrix44, M3DMatrix44f, m3dLoadIdentity44, \
# m3dTranslateMatrix44, m3dScaleMatrix44, \
# m3dMatrixMultiply44, m3dTransposeMatrix44, \
# m3dRadToDeg
import numpy.matlib
import numpy as np
try:
from OpenGL.GLUT import *
from OpenGL.GL import *
from OpenGL.GLU import *
from OpenGL.raw.GL.ARB.vertex_array_object import glGenVertexArrays, \
glBindVertexArray
except:
print ('''
ERROR: PyOpenGL not installed properly.
''')
sys.exit()
from math import cos, sin
from array import array
M3D_PI = 3.14159265358979323846
M3D_PI_DIV_180 = M3D_PI / 180.0
M3D_INV_PI_DIV_180 = 57.2957795130823229
# Translate matrix. Only 4x4 matrices supported
def m3dTranslateMatrix44(m, x, y, z):
m[12] += x
m[13] += y
m[14] += z
def m3dDegToRad(num):
return (num * M3D_PI_DIV_180)
def m3dRadToDeg(num):
return (num * M3D_INV_PI_DIV_180)
def m3dOrtho(l, r, t, b, n, f):
return (GLfloat * 16)(
2/(r-l), 0, 0, 0,
0, 2/(t-b), 0, 0,
0, 0, -2/(f-n), 0,
-(r+l)/(r-l), -(t+b)/(t-b), -(f+n)/(f-n), 1)
def m3dPerspective(fov_y, aspect, n, f):
a = aspect
ta = math.tan( fov_y / 2 )
return (GLfloat * 16)(
1/(ta*a), 0, 0, 0,
0, 1/ta, 0, 0,
0, 0, -(f+n)/(f-n), -1,
0, 0, -2*f*n/(f-n), 0)
# Creates a 4x4 rotation matrix, takes radians NOT degrees
def m3dRotationMatrix44(m, angle, x, y, z):
s = sin(angle)
c = cos(angle)
mag = float((x * x + y * y + z * z) ** 0.5)
if mag == 0.0:
m3dLoadIdentity(m)
return
x /= mag
y /= mag
z /= mag
xx = x * x
yy = y * y
zz = z * z
xy = x * y
yz = y * z
zx = z * x
xs = x * s
ys = y * s
zs = z * s
one_c = 1.0 - c
m[0] = (one_c * xx) + c
m[1] = (one_c * xy) - zs
m[2] = (one_c * zx) + ys
m[3] = 0.0
m[4] = (one_c * xy) + zs
m[5] = (one_c * yy) + c
m[6] = (one_c * yz) - xs
m[7] = 0.0
m[8] = (one_c * zx) - ys
m[9] = (one_c * yz) + xs
m[10] = (one_c * zz) + c
m[11] = 0.0
m[12] = 0.0
m[13] = 0.0
m[14] = 0.0
m[15] = 1.0
def m3dMultiply(A, B):
C = (GLfloat * 16)(*identityMatrix)
for k in range(0, 4):
for j in range(0, 4):
C[k*4+j] = A[0*4+j] * B[k*4+0] + A[1*4+j] * B[k*4+1] + \
A[2*4+j] * B[k*4+2] + A[3*4+j] * B[k*4+3]
return C
def translate(tx, ty, tz):
"""creates the matrix equivalent of glTranslate"""
return np.array([1.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
tx, ty, tz, 1.0], np.float32)
def rotation_matrix(axis, theta):
"""
Return the rotation matrix associated with counterclockwise rotation about
the given axis by theta radians.
"""
axis = np.asarray(axis)
axis = axis / math.sqrt(np.dot(axis, axis))
a = math.cos(theta / 2.0)
b, c, d = -axis * math.sin(theta / 2.0)
aa, bb, cc, dd = a * a, b * b, c * c, d * d
bc, ad, ac, ab, bd, cd = b * c, a * d, a * c, a * b, b * d, c * d
return np.array([[aa + bb - cc - dd, 2 * (bc + ad), 2 * (bd - ac), 0],
[2 * (bc - ad), aa + cc - bb - dd, 2 * (cd + ab), 0],
[2 * (bd + ac), 2 * (cd - ab), aa + dd - bb - cc, 0],
[0,0,0,1]])
identityMatrix = [1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1]
mv_location = (GLfloat * 16)(*identityMatrix)
proj_location = (GLfloat * 16)(*identityMatrix)
proj_matrix = (GLfloat * 16)(*identityMatrix)
many_cubes = False
# Vertex program
vs_source = '''
#version 410 core
in vec4 position;
out VS_OUT
{
vec4 color;
} vs_out;
uniform mat4 mv_matrix;
uniform mat4 proj_matrix;
void main(void)
{
gl_Position = proj_matrix * mv_matrix * position;
vs_out.color = position * 2.0 + vec4(0.5, 0.5, 0.5, 0.0);
}
'''
# Fragment program
fs_source = '''
#version 410 core
out vec4 color;
in VS_OUT
{
vec4 color;
} fs_in;
void main(void)
{
color = fs_in.color;
}
'''
def compile_program(vertex_source, fragment_source):
global mv_location
global proj_location
vertex_shader = None
fragment_shader = None
if vertex_source:
vertex_shader = glCreateShader(GL_VERTEX_SHADER)
glShaderSource(vertex_shader, vertex_source)
glCompileShader(vertex_shader)
if not glGetShaderiv(vertex_shader, GL_COMPILE_STATUS):
raise Exception('failed to compile shader "%s":\n%s' %
('vertex_shader', glGetShaderInfoLog(vertex_shader)))
if fragment_source:
fragment_shader = glCreateShader(GL_FRAGMENT_SHADER)
glShaderSource(fragment_shader, fragment_source)
glCompileShader(fragment_shader)
if not glGetShaderiv(fragment_shader, GL_COMPILE_STATUS):
raise Exception('failed to compile shader "%s":\n%s' %
('fragment_shader', glGetShaderInfoLog(fragment_shader)))
program = glCreateProgram()
glAttachShader(program, vertex_shader)
glAttachShader(program, fragment_shader)
glLinkProgram(program)
mv_location = glGetUniformLocation(program, "mv_matrix");
proj_location = glGetUniformLocation(program, "proj_matrix");
vao = GLuint(0)
glGenVertexArrays(1, vao);
glBindVertexArray(vao);
vertex_positions = [
-0.25, 0.25, -0.25,
-0.25, -0.25, -0.25,
0.25, -0.25, -0.25,
0.25, -0.25, -0.25,
0.25, 0.25, -0.25,
-0.25, 0.25, -0.25,
0.25, -0.25, -0.25,
0.25, -0.25, 0.25,
0.25, 0.25, -0.25,
0.25, -0.25, 0.25,
0.25, 0.25, 0.25,
0.25, 0.25, -0.25,
0.25, -0.25, 0.25,
-0.25, -0.25, 0.25,
0.25, 0.25, 0.25,
-0.25, -0.25, 0.25,
-0.25, 0.25, 0.25,
0.25, 0.25, 0.25,
-0.25, -0.25, 0.25,
-0.25, -0.25, -0.25,
-0.25, 0.25, 0.25,
-0.25, -0.25, -0.25,
-0.25, 0.25, -0.25,
-0.25, 0.25, 0.25,
-0.25, -0.25, 0.25,
0.25, -0.25, 0.25,
0.25, -0.25, -0.25,
0.25, -0.25, -0.25,
-0.25, -0.25, -0.25,
-0.25, -0.25, 0.25,
-0.25, 0.25, -0.25,
0.25, 0.25, -0.25,
0.25, 0.25, 0.25,
0.25, 0.25, 0.25,
-0.25, 0.25, 0.25,
-0.25, 0.25, -0.25 ]
buffer = GLuint(0)
glGenBuffers(1, buffer);
glBindBuffer(GL_ARRAY_BUFFER, buffer);
#ar=numpy.array(vertex_positions, dtype='float32')
ar=array("f",vertex_positions)
glBufferData(GL_ARRAY_BUFFER, ar.tostring(), GL_STATIC_DRAW)
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, None);
glEnableVertexAttribArray(0);
glEnable(GL_CULL_FACE);
glFrontFace(GL_CW);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
return program
class Scene:
def __init__(self, width, height):
self.width = width
self.height = height
def display(self):
global mv_location
global proj_location
global proj_matrix
global many_cubes
currentTime = time.time()
green = [ 0.0, 0.25, 0.0, 1.0 ]
one = 1.0;
glViewport(0, 0, int((1360/2)-(512/2)), int((768/2)-(512/2)))
glClearBufferfv(GL_COLOR, 0, green);
glClearBufferfv(GL_DEPTH, 0, one);
glUseProgram(compile_program(vs_source, fs_source))
#proj_matrix = m3dOrtho(-1, 1, -1, 1, -10, 10)
#proj_matrix = m3dPerspective(50.0*math.pi/180.0, 512/512, 0.1, 1000.0)
#proj_matrix = m3dPerspective(m3dDegToRad(50.0), float(self.width) / float(self.height), 0.1, 1000.0);
glUniformMatrix4fv(proj_location, 1, GL_FALSE, proj_matrix)
if (many_cubes == True):
for i in range(0, 24):
f = i + currentTime * 0.3;
mv_matrix = (GLfloat * 16)(*identityMatrix)
T = (GLfloat * 16)(*identityMatrix)
m3dTranslateMatrix44(T, 0, 0, -4)
W = (GLfloat * 16)(*identityMatrix)
m3dTranslateMatrix44(W, sin(2.1 * f) * 0.5, cos(1.7 * f) * 0.5, sin(1.3 * f) * cos(1.5 * f) * 2.0)
RX = (GLfloat * 16)(*identityMatrix)
m3dRotationMatrix44(RX, currentTime * m3dDegToRad(45.0), 0.0, 1.0, 0.0)
RY = (GLfloat * 16)(*identityMatrix)
m3dRotationMatrix44(RY, currentTime * m3dDegToRad(81.0), 1.0, 0.0, 0.0)
mv_matrix = m3dMultiply(W, m3dMultiply(T, m3dMultiply(RY, RX)))
# or can multiply with numpy
#R = np.matmul(np.array(W).reshape(4,4) , np.matmul(np.array(RX).reshape(4,4), np.array(RY).reshape(4,4)))
#mv_matrix = np.matmul(R, np.array(T).reshape(4,4))
# third way this could be done
# T = np.matrix(translate(0.0, 0.0, -4.0)).reshape(4,4)
# W = np.matrix(translate(sin(2.1 * f) * 0.5, cos(1.7 * f) * 0.5, sin(1.3 * f) * cos(1.5 * f) * 2.0)).reshape(4,4)
# RX = np.matrix(rotation_matrix( [1.0, 0.0, 0.0], currentTime * m3dDegToRad(17.0)))
# RY = np.matrix(rotation_matrix( [0.0, 1.0, 0.0], currentTime * m3dDegToRad(13.0)))
# mv_matrix = RX * RY * T * W
glUniformMatrix4fv(mv_location, 1, GL_FALSE, mv_matrix)
glDrawArrays(GL_TRIANGLES, 0, 36)
else:
f = currentTime * 0.3;
mv_matrix = (GLfloat * 16)(*identityMatrix)
T = (GLfloat * 16)(*identityMatrix)
m3dTranslateMatrix44(T, 0, 0, -4)
W = (GLfloat * 16)(*identityMatrix)
m3dTranslateMatrix44(W, sin(2.1 * f) * 0.5, cos(1.7 * f) * 0.5, sin(1.3 * f) * cos(1.5 * f) * 2.0)
RX = (GLfloat * 16)(*identityMatrix)
m3dRotationMatrix44(RX, currentTime * m3dDegToRad(45.0), 0.0, 1.0, 0.0)
RY = (GLfloat * 16)(*identityMatrix)
m3dRotationMatrix44(RY, currentTime * m3dDegToRad(81.0), 1.0, 0.0, 0.0)
mv_matrix = m3dMultiply(W, m3dMultiply(T, m3dMultiply(RY, RX)))
# second way to that can multiply with numpy
#R = np.matmul(np.array(W).reshape(4,4) , np.matmul(np.array(RX).reshape(4,4), np.array(RY).reshape(4,4)))
#mv_matrix = np.matmul(R, np.array(T).reshape(4,4))
# third way this could be done
# T = np.matrix(translate(0.0, 0.0, -4.0)).reshape(4,4)
# W = np.matrix(translate(sin(2.1 * f) * 0.5, cos(1.7 * f) * 0.5, sin(1.3 * f) * cos(1.5 * f) * 2.0)).reshape(4,4)
# RX = np.matrix(rotation_matrix( [1.0, 0.0, 0.0], currentTime * m3dDegToRad(17.0)))
# RY = np.matrix(rotation_matrix( [0.0, 1.0, 0.0], currentTime * m3dDegToRad(13.0)))
# mv_matrix = RX * RY * T * W
glUniformMatrix4fv(mv_location, 1, GL_FALSE, mv_matrix)
glDrawArrays(GL_TRIANGLES, 0, 36)
glutSwapBuffers()
def reshape(self, width, height):
global proj_matrix
proj_matrix = m3dPerspective(m3dDegToRad(50.0), float(self.width) / float(self.height), 0.1, 1000.0);
self.width = width
self.height = height
def keyboard(self, key, x, y ):
global fullscreen
global many_cubes
print ('key:' , key)
if key == b'\x1b': # ESC
sys.exit()
elif key == b'f' or key == b'F': #fullscreen toggle
if (fullscreen == True):
glutReshapeWindow(512, 512)
glutPositionWindow(int((1360/2)-(512/2)), int((768/2)-(512/2)))
fullscreen = False
else:
glutFullScreen()
fullscreen = True
elif key == b'm' or key == b'M':
if (many_cubes == True):
many_cubes = False
else:
many_cubes = True
print('done')
def init(self):
pass
def timer(self, blah):
glutPostRedisplay()
glutTimerFunc( int(1/60), self.timer, 0)
time.sleep(1/60.0)
if __name__ == '__main__':
start = time.time()
glutInit()
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH)
glutInitWindowSize(512, 512)
w1 = glutCreateWindow('OpenGL SuperBible - Spinny Cube')
glutInitWindowPosition(int((1360/2)-(512/2)), int((768/2)-(512/2)))
fullscreen = False
many_cubes = False
#glutFullScreen()
scene = Scene(512,512)
glutReshapeFunc(scene.reshape)
glutDisplayFunc(scene.display)
glutKeyboardFunc(scene.keyboard)
glutIdleFunc(scene.display)
#glutTimerFunc( int(1/60), scene.timer, 0)
scene.init()
glutMainLoop()
The expression form the question:
mv_matrix = np.array(A * B * C * D)
performs a component-wise multiplication of the elements of the numpy.array.
A concatenation of matrices can be performed by numpy.matmul.
The operation
C = A * B
can be expressed as
C = np.matmul(B, A)
So concatenate 4 matrices A * B * C * D is:
mv_matrix = np.matmul(D, np.matmul(C, np.matmul(B, A)))
Note, if you use numpy.matrix rather than numpy.array, then the *-operator proceeds a matrix multiplication.
Side note: The identity matrix can be set by numpy.identity
ident4x4 = np.identity(4, np.float32)
since the data-type of the output defaults to float, this can be simplified further:
ident4x4 = np.identity(4)
e.g. Use the functions translate and rotation_matrix to concatenate a translation and rotations around the x and y axis:
T = np.matrix(translate(0.0, 0.0, -4.0)).reshape(4,4)
RX = np.matrix(rotation_matrix( [1.0, 0.0, 0.0], currentTime * m3dDegToRad(17.0)))
RY = np.matrix(rotation_matrix( [0.0, 1.0, 0.0], currentTime * m3dDegToRad(13.0)))
mv_matrix = RX * RY * T