Py3DEngine/matrix_functions.py at main · commandcontrolQ/Py3DEngine · GitHub

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import math
import numpy as np


def translate(pos):
    tx, ty, tz = pos
    return np.array([
        [1, 0, 0, 0],
        [0, 1, 0, 0],
        [0, 0, 1, 0],
        [tx, ty, tz, 1]
    ])


def rotate_x(a):
    return np.array([
        [1, 0, 0, 0],
        [0, math.cos(a), math.sin(a), 0],
        [0, -math.sin(a), math.cos(a), 0],
        [0, 0, 0, 1]
    ])


def rotate_y(a):
    return np.array([
        [math.cos(a), 0, -math.sin(a), 0],
        [0, 1, 0, 0],
        [math.sin(a), 0, math.cos(a), 0],
        [0, 0, 0, 1]
    ])


def rotate_z(a):
    return np.array([
        [math.cos(a), math.sin(a), 0, 0],
        [-math.sin(a), math.cos(a), 0, 0],
        [0, 0, 1, 0],
        [0, 0, 0, 1]
    ])


def scale(n):
    return np.array([
        [n, 0, 0, 0],
        [0, n, 0, 0],
        [0, 0, n, 0],
        [0, 0, 0, 1]
    ])