omniverse_sample_scripts/Math/CalcMatrix.py at main · ft-lab/omniverse_sample_scripts · GitHub

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from pxr import Gf

# Identity matrix.
m = Gf.Matrix4f()
print(m)

# Initialize with rotation and translate.
rotV   = Gf.Rotation(Gf.Vec3d(1, 0, 0), 90.0)
transV = Gf.Vec3f(10, 5, 2.3)
m1 = Gf.Matrix4f(rotV, transV)
print(m1)

# Get data.
for i in range(4):
    print(f"{m1[i,0]} , {m1[i,1]} , {m1[i,2]} , {m1[i,3]}")

# Set identity.
m1.SetIdentity()
print(m1)

# Matrix multiplication.
rot1 = Gf.Rotation(Gf.Vec3d(1, 0, 0), 90.0)
m2 = Gf.Matrix4f(rot1, Gf.Vec3f())

rot2 = Gf.Rotation(Gf.Vec3d(0, 1, 0), 30.0)
m3 = Gf.Matrix4f(rot2, Gf.Vec3f())
m4 = m2 * m3    # Gf.Matrix4f * Gf.Matrix4f
print(m4)

rot3 = rot1 * rot2  # Gf.Rotation * Gf.Rotation
print(Gf.Matrix4f(rot3, Gf.Vec3f()))

# Inverse matrix.
m4Inv = m4.GetInverse()
print(m4Inv)

# vector3 * matrix4.
rotV   = Gf.Rotation(Gf.Vec3d(1, 0, 0), 90.0)
transV = Gf.Vec3f(10, 5, 2.3)
m5 = Gf.Matrix4f(rotV, transV)

v1 = Gf.Vec3f(1.2, 1.0, 2.5)
v2 = m5.Transform(v1)
print(f"{v2}")

# vector3 * matrix4 (Ignore position).
v1 = Gf.Vec3f(1.2, 1.0, 2.5)
v2 = m5.TransformDir(v1)
print(f"{v2}")