Method get_rotation_mat

pyrender.py:809–891

(self)

    def get_rotation_mat(self) -> tuple:
        yaw = -(self.yaw - 90) * pi / 180
        pitch = -self.pitch * pi / 180
        roll = self.roll * pi / 180
        sin_yaw = sin(yaw)
        cos_yaw = cos(yaw)
        sin_pitch = sin(pitch)
        cos_pitch = cos(pitch)
        sin_roll = sin(roll)
        cos_roll = cos(roll)

        rotation = (
                (cos_roll, -sin_roll, 0,),
                (sin_roll, cos_roll, 0,),
                (0, 0, 1),
            )
        
        rot = (
                (1, 0, 0,),
                (0, cos_pitch, -sin_pitch,),
                (0, sin_pitch, cos_pitch,),
            )

        rotation = (
                (rotation[0][0], rotation[0][1] * rot[1][1] + rotation[0][2] * rot[1][2], rotation[0][1] * rot[2][1] + rotation[0][2] * rot[2][2],),
                (rotation[1][0], rotation[1][1] * rot[1][1] + rotation[1][2] * rot[1][2], rotation[1][1] * rot[2][1] + rotation[1][2] * rot[2][2],),
                (rotation[2][0], rotation[2][1] * rot[1][1] + rotation[2][2] * rot[1][2], rotation[2][1] * rot[2][1] + rotation[2][2] * rot[2][2],),
            )
        
        rot = (
                (cos_yaw, 0, sin_yaw,),
                (0, 1, 0,),
                (-sin_yaw, 0, cos_yaw,),
            )
        
        rotation = (
                (rotation[0][0] * rot[0][0] + rotation[0][2] * rot[0][2], rotation[0][1], rotation[0][0] * rot[2][0] + rotation[0][2] * rot[2][2],),
                (rotation[1][0] * rot[0][0] + rotation[1][2] * rot[0][2], rotation[1][1], rotation[1][0] * rot[2][0] + rotation[1][2] * rot[2][2],),
                (rotation[2][0] * rot[0][0] + rotation[2][2] * rot[0][2], rotation[2][1], rotation[2][0] * rot[2][0] + rotation[2][2] * rot[2][2],),
            )
        return rotation
        
        yaw = self.yaw * pi / 180
        pitch = self.pitch * pi / 180
        sin_yaw = sin(yaw)
        cos_yaw = cos(yaw)
        sin_pitch = sin(pitch)
        cos_pitch = cos(pitch)
        if self.roll == 0:
            return ((sin_yaw, 0, -cos_yaw,),
                    (-sin_pitch * cos_yaw, cos_pitch, -sin_pitch * sin_yaw),
                    (cos_yaw * cos_pitch, sin_pitch, sin_yaw * cos_pitch,))
        else:
            roll = self.roll * pi / 180
            sin_roll = sin(roll)
            cos_roll = cos(roll)
            # rotation = (
            #     (cos_roll, -sin_roll, 0),