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214 lines
6.6 KiB
Python
214 lines
6.6 KiB
Python
from __future__ import annotations
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import math
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import numpy as np
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from scipy.spatial.transform import Rotation
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from pyrr import Matrix44
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from manimlib.constants import DEGREES, RADIANS
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from manimlib.constants import FRAME_SHAPE
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from manimlib.constants import DOWN, LEFT, ORIGIN, OUT, RIGHT, UP
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from manimlib.mobject.mobject import Mobject
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from manimlib.utils.space_ops import normalize
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from typing import TYPE_CHECKING
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if TYPE_CHECKING:
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from manimlib.typing import Vect3
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class CameraFrame(Mobject):
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def __init__(
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self,
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frame_shape: tuple[float, float] = FRAME_SHAPE,
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center_point: Vect3 = ORIGIN,
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# Field of view in the y direction
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fovy: float = 45 * DEGREES,
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**kwargs,
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):
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super().__init__(**kwargs)
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self.uniforms["orientation"] = Rotation.identity().as_quat()
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self.uniforms["fovy"] = fovy
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self.view_matrix = np.identity(4)
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self.default_orientation = Rotation.identity()
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self.set_points(np.array([ORIGIN, LEFT, RIGHT, DOWN, UP]))
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self.set_width(frame_shape[0], stretch=True)
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self.set_height(frame_shape[1], stretch=True)
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self.move_to(center_point)
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def note_changed_data(self, recurse_up: bool = True):
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super().note_changed_data(recurse_up)
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self.get_view_matrix(refresh=True)
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def set_orientation(self, rotation: Rotation):
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self.uniforms["orientation"][:] = rotation.as_quat()
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return self
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def get_orientation(self):
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return Rotation.from_quat(self.uniforms["orientation"])
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def make_orientation_default(self):
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self.default_orientation = self.get_orientation()
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return self
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def to_default_state(self):
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self.set_shape(*FRAME_SHAPE)
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self.center()
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self.set_orientation(self.default_orientation)
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return self
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def get_euler_angles(self) -> np.ndarray:
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orientation = self.get_orientation()
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if all(orientation.as_quat() == [0, 0, 0, 1]):
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return np.zeros(3)
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return orientation.as_euler("zxz")[::-1]
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def get_theta(self):
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return self.get_euler_angles()[0]
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def get_phi(self):
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return self.get_euler_angles()[1]
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def get_gamma(self):
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return self.get_euler_angles()[2]
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def get_scale(self):
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return self.get_height() / FRAME_SHAPE[1]
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def get_inverse_camera_rotation_matrix(self):
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return self.get_orientation().as_matrix().T
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def get_view_matrix(self, refresh=False):
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"""
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Returns a 4x4 for the affine transformation mapping a point
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into the camera's internal coordinate system
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"""
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if refresh:
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shift = np.identity(4)
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rotation = np.identity(4)
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scale = np.identity(4)
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shift[:3, 3] = -self.get_center()
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rotation[:3, :3] = self.get_inverse_camera_rotation_matrix()
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scale[:3, :3] /= self.get_scale()
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self.view_matrix = np.dot(scale, np.dot(rotation, shift))
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return self.view_matrix
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def get_inv_view_matrix(self):
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return np.linalg.inv(self.get_view_matrix())
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def interpolate(self, *args, **kwargs):
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super().interpolate(*args, **kwargs)
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self.get_view_matrix(refresh=True)
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@Mobject.affects_data
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def rotate(self, angle: float, axis: np.ndarray = OUT, **kwargs):
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rot = Rotation.from_rotvec(angle * normalize(axis))
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self.set_orientation(rot * self.get_orientation())
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return self
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def set_euler_angles(
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self,
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theta: float | None = None,
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phi: float | None = None,
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gamma: float | None = None,
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units: float = RADIANS
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):
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eulers = self.get_euler_angles() # theta, phi, gamma
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for i, var in enumerate([theta, phi, gamma]):
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if var is not None:
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eulers[i] = var * units
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if all(eulers == 0):
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rot = Rotation.identity()
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else:
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rot = Rotation.from_euler("zxz", eulers[::-1])
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self.set_orientation(rot)
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return self
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def reorient(
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self,
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theta_degrees: float | None = None,
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phi_degrees: float | None = None,
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gamma_degrees: float | None = None,
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):
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"""
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Shortcut for set_euler_angles, defaulting to taking
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in angles in degrees
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"""
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self.set_euler_angles(theta_degrees, phi_degrees, gamma_degrees, units=DEGREES)
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return self
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def set_theta(self, theta: float):
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return self.set_euler_angles(theta=theta)
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def set_phi(self, phi: float):
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return self.set_euler_angles(phi=phi)
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def set_gamma(self, gamma: float):
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return self.set_euler_angles(gamma=gamma)
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def increment_theta(self, dtheta: float):
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self.rotate(dtheta, OUT)
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return self
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def increment_phi(self, dphi: float):
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self.rotate(dphi, self.get_inverse_camera_rotation_matrix()[0])
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return self
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def increment_gamma(self, dgamma: float):
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self.rotate(dgamma, self.get_inverse_camera_rotation_matrix()[2])
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return self
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def set_focal_distance(self, focal_distance: float):
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self.uniforms["fovy"] = 2 * math.atan(0.5 * self.get_height() / focal_distance)
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return self
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def set_field_of_view(self, field_of_view: float):
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self.uniforms["fovy"] = field_of_view
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return self
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def get_shape(self):
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return (self.get_width(), self.get_height())
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def get_aspect_ratio(self):
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width, height = self.get_shape()
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return width / height
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def get_center(self) -> np.ndarray:
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# Assumes first point is at the center
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return self.get_points()[0]
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def get_width(self) -> float:
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points = self.get_points()
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return points[2, 0] - points[1, 0]
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def get_height(self) -> float:
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points = self.get_points()
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return points[4, 1] - points[3, 1]
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def get_focal_distance(self) -> float:
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return 0.5 * self.get_height() / math.tan(0.5 * self.uniforms["fovy"])
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def get_field_of_view(self) -> float:
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return self.uniforms["fovy"]
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def get_implied_camera_location(self) -> np.ndarray:
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to_camera = self.get_inverse_camera_rotation_matrix()[2]
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dist = self.get_focal_distance()
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return self.get_center() + dist * to_camera
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def to_fixed_frame_point(self, point: Vect3, relative: bool = False):
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view = self.get_view_matrix()
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point4d = [*point, 0 if relative else 1]
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return np.dot(point4d, view.T)[:3]
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def from_fixed_frame_point(self, point: Vect3, relative: bool = False):
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inv_view = self.get_inv_view_matrix()
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point4d = [*point, 0 if relative else 1]
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return np.dot(point4d, inv_view.T)[:3]
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