Simple-3D-Renderer/matrix_functions.py at main · MTAISBOSS/Simple-3D-Renderer · 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]
    ])

def scale_xyz(sx, sy, sz):
    return np.array([
        [sx, 0, 0, 0],
        [0, sy, 0, 0],
        [0, 0, sz, 0],
        [0, 0, 0, 1]
    ])

def look_at(eye, target, up):
    forward = (target - eye)
    forward = forward / np.linalg.norm(forward)

    right = np.cross(forward, up)
    right = right / np.linalg.norm(right)

    new_up = np.cross(right, forward)

    return np.array([
        [right[0], new_up[0], -forward[0], 0],
        [right[1], new_up[1], -forward[1], 0],
        [right[2], new_up[2], -forward[2], 0],
        [-np.dot(right, eye), -np.dot(new_up, eye), np.dot(forward, eye), 1]
    ])

def perspective(fov, aspect, near, far):
    f = 1.0 / math.tan(fov / 2.0)

    return np.array([
        [f / aspect, 0, 0, 0],
        [0, f, 0, 0],
        [0, 0, (far + near) / (near - far), -1],
        [0, 0, (2 * far * near) / (near - far), 0]
    ])