# -*- coding: utf-8 -*- """Represents a 3x3 Matrix. The Matrix33 class provides a number of convenient functions and conversions. :: import numpy as np from pyrr import Quaternion, Matrix33, Matrix44, Vector3 m = Matrix33() m = Matrix33([[1.,0.,0.],[0.,1.,0.],[0.,0.,1.]]) # copy constructor m = Matrix44(Matrix44()) # explicit creation m = Matrix33.identity() m = Matrix33.from_matrix44(Matrix44()) # inferred conversions m = Matrix33(Quaternion()) m = Matrix33(Matrix44()) # multiply matricies together m = Matrix33() * Matrix33() m = Matrix33() * Matrix44() # extract a quaternion from a matrix q = m.quaternion # convert from quaternion back to matrix m = q.matrix33 m = Matrix33(q) # rotate a matrix by a quaternion m = Matrix33.identity() * Quaternion() # rotate a vector 3 by a matrix v = Matrix33.from_x_rotation(np.pi) * Vector3([1.,2.,3.]) # undo a rotation m = Matrix33.from_x_rotation(np.pi) v = m * Vector3([1.,1.,1.]) # ~m is the same as m.inverse v = ~m * v # access specific parts of the matrix # first row m1 = m.m1 # first element, first row m11 = m.m11 # third element, third row m33 = m.m33 # first row, same as m1 r1 = m.r1 # first column c1 = m.c1 """ from __future__ import absolute_import from numbers import Number import numpy as np from multipledispatch import dispatch from .base import BaseObject, BaseMatrix, BaseMatrix33, BaseQuaternion, BaseVector, NpProxy from .. import matrix33 class Matrix33(BaseMatrix33): _module = matrix33 _shape = (3,3,) # m style access #: The first row of this Matrix as a numpy.ndarray. m1 = NpProxy(0) #: The second row of this Matrix as a numpy.ndarray. m2 = NpProxy(1) #: The third row of this Matrix as a numpy.ndarray. m3 = NpProxy(2) # m access #: The [0,0] value of this Matrix. m11 = NpProxy((0,0)) #: The [0,1] value of this Matrix. m12 = NpProxy((0,1)) #: The [0,2] value of this Matrix. m13 = NpProxy((0,2)) #: The [1,0] value of this Matrix. m21 = NpProxy((1,0)) #: The [1,1] value of this Matrix. m22 = NpProxy((1,1)) #: The [1,2] value of this Matrix. m23 = NpProxy((1,2)) #: The [2,0] value of this Matrix. m31 = NpProxy((2,0)) #: The [2,1] value of this Matrix. m32 = NpProxy((2,1)) #: The [2,2] value of this Matrix. m33 = NpProxy((2,2)) # rows #: The first row of this Matrix as a numpy.ndarray. This is the same as m1. r1 = NpProxy(0) #: The second row of this Matrix as a numpy.ndarray. This is the same as m2. r2 = NpProxy(1) #: The third row of this Matrix as a numpy.ndarray. This is the same as m3. r3 = NpProxy(2) # columns #: The first column of this Matrix as a numpy.ndarray. c1 = NpProxy((slice(0,3),0)) #: The second column of this Matrix as a numpy.ndarray. c2 = NpProxy((slice(0,3),1)) #: The third column of this Matrix as a numpy.ndarray. c3 = NpProxy((slice(0,3),2)) ######################## # Creation @classmethod def from_matrix44(cls, matrix, dtype=None): """Creates a Matrix33 from a Matrix44. The Matrix44 translation will be lost. """ return cls(matrix33.create_from_matrix44(matrix, dtype)) def __new__(cls, value=None, dtype=None): if value is not None: obj = value if not isinstance(value, np.ndarray): obj = np.array(value, dtype=dtype) # matrix44 if obj.shape == (4,4) or isinstance(obj, Matrix44): obj = matrix33.create_from_matrix44(obj, dtype=dtype) # quaternion elif obj.shape == (4,) or isinstance(obj, Quaternion): obj = matrix33.create_from_quaternion(obj, dtype=dtype) else: obj = np.zeros(cls._shape, dtype=dtype) obj = obj.view(cls) return super(Matrix33, cls).__new__(cls, obj) ######################## # Basic Operators @dispatch(BaseObject) def __add__(self, other): self._unsupported_type('add', other) @dispatch(BaseObject) def __sub__(self, other): self._unsupported_type('subtract', other) @dispatch(BaseObject) def __mul__(self, other): self._unsupported_type('multiply', other) @dispatch(BaseObject) def __truediv__(self, other): self._unsupported_type('divide', other) @dispatch(BaseObject) def __div__(self, other): self._unsupported_type('divide', other) def __invert__(self): return self.inverse ######################## # Matrices @dispatch((BaseMatrix, np.ndarray, list)) def __add__(self, other): return Matrix33(super(Matrix33, self).__add__(Matrix33(other))) @dispatch((BaseMatrix, np.ndarray, list)) def __sub__(self, other): return Matrix33(super(Matrix33, self).__sub__(Matrix33(other))) @dispatch((BaseMatrix, np.ndarray, list)) def __mul__(self, other): return Matrix33(matrix33.multiply(Matrix33(other), self)) @dispatch((BaseMatrix, np.ndarray, list)) def __ne__(self, other): return bool(np.any(super(Matrix33, self).__ne__(other))) @dispatch((BaseMatrix, np.ndarray, list)) def __eq__(self, other): return bool(np.all(super(Matrix33, self).__eq__(other))) ######################## # Quaternions @dispatch(BaseQuaternion) def __mul__(self, other): m = other.matrix33 return self * m ######################## # Vectors @dispatch(BaseVector) def __mul__(self, other): return type(other)(matrix33.apply_to_vector(self, other)) ######################## # Number @dispatch((Number, np.number)) def __add__(self, other): return Matrix33(super(Matrix33, self).__add__(other)) @dispatch((Number, np.number)) def __sub__(self, other): return Matrix33(super(Matrix33, self).__sub__(other)) @dispatch((Number, np.number)) def __mul__(self, other): return Matrix33(super(Matrix33, self).__mul__(other)) @dispatch((Number, np.number)) def __truediv__(self, other): return Matrix33(super(Matrix33, self).__truediv__(other)) @dispatch((Number, np.number)) def __div__(self, other): return Matrix33(super(Matrix33, self).__div__(other)) ######################## # Methods and Properties @property def matrix33(self): """Returns the Matrix33. This can be handy if you're not sure what type of Matrix class you have but require a Matrix33. """ return self @property def matrix44(self): """Returns a Matrix44 representing this matrix. """ return Matrix44(self) @property def quaternion(self): """Returns a Quaternion representing this matrix. """ return Quaternion(self) from .matrix44 import Matrix44 from .quaternion import Quaternion