Qt Opengl如何更改四元数旋转点？

问题描述

我正在尝试围绕某点实施旋转。问题是：平移相机时旋转点不会改变。我已经找到了一些有关通过将四元数转换为旋转矩阵并与T(x,y,z) * R(q) * T(-x,-y,-z)之类的转换矩阵相乘来更改旋转点的有用信息，但是我没有使用它们。使用QMatrix4x4和rotate方法在单个lookAt上执行所有转换。还有其他解决方案吗？

这是我的相机课：

class PlyViewportCamera:
    def __init__(self):
        self.__projectionMatrix = QMatrix4x4()
        self.__viewMatrix = QMatrix4x4()

        self.__clipRange = (0.1,1000.0)
        self.__fov = 45

        self.__camEye = QVector3D(0.0,5.0,-10.0)
        self.__camTarget = QVector3D(0.0,0.0,0.0)
        self.__camUp = QVector3D(0.0,1.0,0.0)

        self.__viewRotation = QQuaternion()
        self.__xRotation = QQuaternion()
        self.__yRotation = QQuaternion()

    def __rotateX(self,rotation: QQuaternion):
        self.__xRotation = rotation * self.__xRotation
        self.__viewRotation = self.__xRotation * self.__yRotation
        self.__viewRotation.normalize()

    def __rotateY(self,rotation: QQuaternion):
        self.__yRotation = rotation * self.__yRotation
        self.__viewRotation = self.__xRotation * self.__yRotation
        self.__viewRotation.normalize()

    def rotate(self,p_start: QVector2D,p_end: QVector2D):
        prev_rotation = self.__viewRotation
        div_factor = 10
        diff = p_end - p_start
        angle_x = diff.y() / div_factor
        angle_y = diff.x() / div_factor
        self.__rotateX(QQuaternion.fromAxisAndAngle(1.0,angle_x))
        self.__rotateY(QQuaternion.fromAxisAndAngle(0.0,angle_y))
        self.__viewRotation = QQuaternion.slerp(prev_rotation,self.__viewRotation,0.6)
        self.__viewRotation.normalize()

    def pan(self,start: QVector2D,end:QVector2D):
        delta = end - start
        transform = QVector3D(delta.x() / 50,delta.y() / 50,0.0)
        self.__camEye += transform
        self.__camTarget += transform

    def updateCamera(self):
        self.__viewMatrix.setToIdentity()
        self.__viewMatrix.lookAt(self.__camEye,self.__camTarget,self.__camUp)
        self.__viewMatrix.rotate(self.__viewRotation)

    def setProjection(self,w: int,h: int):
        aspect_ratio = w / h
        self.__projectionMatrix.setToIdentity()
        self.__projectionMatrix.perspective(self.__fov,aspect_ratio,*self.__clipRange)

    @property
    def projectionMatrix(self):
        return self.__projectionMatrix

    @property
    def viewMatrix(self):
        return self.__viewMatrix

解决方法

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