pyqt opengl 旋转平移缩放

import sys
import math
from PyQt5.QtWidgets import QApplication, QMainWindow, QOpenGLWidget
from PyQt5.QtCore import Qt
from OpenGL.GL import *
from OpenGL.GLU import *

from PyQt5.QtCore import QPoint
from PyQt5.QtGui import QMouseEvent
from OpenGL.GL import *
from OpenGL.GLU import *

class OpenGLWidget(QOpenGLWidget):
    def __init__(self, parent=None):
        super(OpenGLWidget, self).__init__(parent)
        self.lastPos = QPoint()
        self.translation = [0.0, 0.0, -5.0]  # X, Y, and initial Z
        self.zoom = 1.0
        self.xRot = 0
        self.yRot = 0
        self.zRot = 0


    def initializeGL(self):
        glClearColor(0.8, 0.8, 0.8, 1.0)# 设置清屏颜色为灰色
        glDisable(GL_LIGHTING)  # 禁用光照
        glEnable(GL_DEPTH_TEST)  # 启用深度测试，以正确渲染3D空间中的对象
        glEnable(GL_LIGHT0)
        # glEnable(GL_LIGHTING)
        glEnable(GL_COLOR_MATERIAL)
        glColorMaterial(GL_FRONT_AND_BA