Python之OpenGL笔记(9)：旋转变换

一、目的

1、使用GLSL实现图形的旋转。

二、程序运行结果

三、旋转变换

  旋转变换，就是说给定一个角度和点，我们将点绕着一个坐标轴旋转。在旋转过程中发生变化的总是ｘ，ｙ，ｚ三个坐标里面的其中两个，而不让第三个坐标值变化。这意味着，旋转路径总在三个坐标轴平面中的一个之中：绕 Z 轴的是 xy 面、绕 X 轴的是 yz 面、绕 Y 轴的是 xy 面。当然还有许多复杂的旋转变换可以让你绕任意一个向量旋转。
  对于三维空间上的一点(x,y,z)，绕Z 轴旋转a弧度，我们使用4*4齐次矩阵的形式来表示：

四、代码解析

1、theta = i*PI/180.0 角度转换为弧度；程序中旋转了45度。
2、向量vec4(cos(theta),sin(theta),0.0,0)表示的是第1列，矩阵运算后，点(x,y)绕Z轴旋转theta弧度到(xcos(theta)-ysin(theta)，xsin(theta)+ycos(theta))处。

五、源代码

"""
glfw_square03.py
Author: dalong10
Description: Draw a Square, learning OPENGL 
"""
import glutils    #Common OpenGL utilities,see glutils.py
import sys, random, math
import OpenGL
from OpenGL.GL import *
from OpenGL.GL.shaders import *
import numpy 
import numpy as np
import glfw

strVS = """
#version 330 core
layout(location = 0) in vec3 position;
uniform float theta;

void main(){
	mat4 rot=mat4(vec4(cos(theta),sin(theta),0.0,0),
				vec4(-sin(theta), cos(theta),0.0,0),
				vec4(0.0,         0.0,1.0, 0.0),
				vec4(0.0,         0.0,0.0, 1.0));
	gl_Position=rot * vec4(position.x, position.y, position.z, 1.0);
	
	}
"""

strFS = """
#version 330 core
out vec3 color;
void main(){
	color = vec3(1,1,0);
	}
"""

class FirstSquare:
    def __init__(self, side):
        self.side = side

        # load shaders
        self.program = glutils.loadShaders(strVS, strFS)
        glUseProgram(self.program)
        
        s = side/2.0
        vertices = [
            -s, s, 0,  
             s, s, 0,  
             s, -s, 0 , 
             -s, -s, 0            
             ]
                
        # set up vertex array object (VAO)
        self.vao = glGenVertexArrays(1)
        glBindVertexArray(self.vao)
        # set up VBOs
        vertexData = numpy.array(vertices, numpy.float32)
        self.vertexBuffer = glGenBuffers(1)
        glBindBuffer(GL_ARRAY_BUFFER, self.vertexBuffer)
        glBufferData(GL_ARRAY_BUFFER, 4*len(vertexData), vertexData, 
                     GL_STATIC_DRAW)
        #enable arrays
        self.vertIndex = 0
        glEnableVertexAttribArray(self.vertIndex)
        # set buffers 
        glBindBuffer(GL_ARRAY_BUFFER, self.vertexBuffer)
        glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, None)
        # unbind VAO
        glBindVertexArray(0)

    def render(self):       
        # use shader
        glUseProgram(self.program)
        theta = i*PI/180.0
        glUniform1f(glGetUniformLocation(self.program, "theta"), theta)

        # bind VAO
        glBindVertexArray(self.vao)
        # draw
        glDrawArrays(GL_LINE_LOOP, 0, 4)
        # unbind VAO
        glBindVertexArray(0)


if __name__ == '__main__':
    import sys
    import glfw
    import OpenGL.GL as gl
    def on_key(window, key, scancode, action, mods):
        if key == glfw.KEY_ESCAPE and action == glfw.PRESS:
            glfw.set_window_should_close(window,1)

    # Initialize the library
    if not glfw.init():
        sys.exit()

    # Create a windowed mode window and its OpenGL context
    window = glfw.create_window(300, 300, "Rotation Square ", None, None)
    if not window:
        glfw.terminate()
        sys.exit()

    # Make the window's context current
    glfw.make_context_current(window)

    # Install a key handler
    glfw.set_key_callback(window, on_key)
    PI = 3.14159265358979323846264
    # Loop until the user closes the window
    while not glfw.window_should_close(window):
        # Render here
        width, height = glfw.get_framebuffer_size(window)
        ratio = width / float(height)
        gl.glViewport(0, 0, width, height)
        gl.glClear(gl.GL_COLOR_BUFFER_BIT)
        gl.glClearColor(0.0,0.0,4.0,0.0)
        firstSquare0 = FirstSquare(1.0)        
        
        i=45.0
        firstSquare0.render()            

        # Swap front and back buffers
        glfw.swap_buffers(window)
        
        # Poll for and process events
        glfw.poll_events()

    glfw.terminate()