processingの3Dモードでカメラを自由に操る

import copy

class MouseCamera(object):
    def __init__(self, radius, eyeX, eyeY, eyeZ, centerX, centerY, centerZ, upX, upY, upZ):
        self.eyeX, self.eyeY, self.eyeZ = 0.0, 0.0, 0.0
        self.centerX, self.centerY, self.centerZ = 0.0, 0.0, 0.0
        self.upX, self.upY, self.upZ = 0.0, 0.0, 0.0
        # self.eyeX = 0.0
        # self.eyeY = 0.0
        # self.eyeZ = 0.0
        # self.centerX = 0.0
        # self.centerY = 0.0
        # self.centerZ = 0.0
        # self.upX = 0.0
        # self.upY = 0.0
        # self.upZ = 0.0
        self.radius = 0.0 # 仮想的な球の半径
        self.matrix = None # 行列
        self.preVector = PVector() # PVectorはProcessingの組み込みクラス

    # def MouseCamera(self, radius = 0.0):
    #     self(radius, width / 2.0, height / 2.0, (height / 2.0)/tan(PI*30.0/180.0), width / 2.0, height / 2.0, 0, 0, 1, 0)

        self.radius = radius
        self.eyeX = eyeX
        self.eyeY = eyeY
        self.eyeZ = eyeZ
        self.centerX = centerX
        self.centerY = centerY
        self.centerZ = centerZ
        self.upX = upX
        self.upY = upY
        self.upZ = upZ
        self.matrix = self.getIdentityMatrix()

    # 毎フレーム処理
    def update(self):
        beginCamera()
        camera(self.eyeX, self.eyeY, self.eyeZ, self.centerX, self.centerY, self.centerZ, self.upX, self.upY, self.upZ)
        applyMatrix(self.matrix[0][0], self.matrix[0][1], self.matrix[0][2], self.matrix[0][3],
                    self.matrix[1][0], self.matrix[1][1], self.matrix[1][2], self.matrix[1][3],
                    self.matrix[2][0], self.matrix[2][1], self.matrix[2][2], self.matrix[2][3],
                    self.matrix[3][0], self.matrix[3][1], self.matrix[3][2], self.matrix[3][3])
        endCamera()

    # クリックしたときに呼び出す関数
    def mousePressed(self):
        # 右ボタンをクリックをしたときの処理
        if mouseButton == RIGHT:
            matrix = self.getIdentityMatrix()
        # 左ボタンをクリックをしたときの処理
        elif mouseButton == LEFT:
            self.preVector = self.mouseOnSphere(mouseX-width / 2.0, mouseY-height / 2.0)
        # 中ボタンをクリックしたときの処理
        elif mouseButton == CENTER:
            self.preVector = PVector(mouseX-width / 2.0, mouseY-height / 2.0)

    # ドラッグしたときに呼び出す関数
    def mouseDragged(self):
        # 左ボタンをドラッグしたときの処理
        if mouseButton == LEFT:
            v = self.mouseOnSphere(mouseX-width / 2.0, mouseY-height / 2.0)
            self.matrix = self.mult(self.getRotationMatrix(self.preVector, v), self.matrix)
            self.preVector = v
            
        # 中ボタンをドラッグしたときの処理
        elif mouseButton == CENTER:
            v = PVector(mouseX-width / 2.0, mouseY-height / 2.0)
            self.matrix = self.mult(self.getTranslationMatrix(self.preVector, v), self.matrix)
            self.preVector = v

    # マウスホイールを動かしたときに呼び出す関数
    def mouseWheel(self, event):
        self.matrix = self.mult(self.getScaleMatrix(event.getCount()), self.matrix)

    # 単位行列の取得
    def getIdentityMatrix(self):
        return [[1.0, 0.0, 0.0, 0.0],
                [0.0, 1.0, 0.0, 0.0],
                [0.0, 0.0, 1.0, 0.0],
                [0.0, 0.0, 0.0, 1.0]]

    # 回転行列の取得
    def getRotationMatrix(self, v1, v2):
        v1tmp = copy.copy(v1) # 保護するためにコピーして使う（normalizeの挙動がjavaと違うのか、値渡しができない影響か、オブジェクトの生成の挙動の違いかわからん）
        v = v1tmp.cross(v2).normalize() # 回転軸
        c = v1.dot(v2) # cos
        s = v1.cross(v2).mag() # sin
        return [[c + v.x*v.x*(1.0-c), v.x*v.y*(1.0-c) - v.z*s, v.x*v.z*(1.0-c) + v.y*s, 0.0],
                [v.y*v.x*(1.0-c) + v.z*s, c + v.y*v.y*(1.0-c), v.y*v.z*(1.0-c) - v.x*s, 0.0],
                [v.z*v.x*(1.0-c) - v.y*s, v.z*v.y*(1.0-c) + v.x*s, c + v.z*v.z*(1.0-c), 0.0],
                [0.0, 0.0, 0.0, 1.0]]

    # 平行移動行列の取得
    def getTranslationMatrix(self, v1, v2):
        return [[1.0, 0.0, 0.0, v2.x-v1.x],
                [0.0, 1.0, 0.0, v2.y-v1.y],
                [0.0, 0.0, 1.0, v2.z-v1.z],
                [0.0, 0.0, 0.0, 1.0]]

    # 拡大縮小行列の取得
    def getScaleMatrix(self, wheelCount):
        temp = 10.0 # wheelCountの値が大きいので定数で割る
        return [[exp(-wheelCount/temp), 0.0, 0.0, 0.0],
                [0.0, exp(-wheelCount/temp), 0.0, 0.0],
                [0.0, 0.0, exp(-wheelCount/temp), 0.0],
                [0.0, 0.0, 0.0, 1.0]]

    # マウスの座標から球面上の位置ベクトルを取得する
    def mouseOnSphere(self, x, y):
        _x = x / self.radius
        _y = y / self.radius
        res = PVector(_x, _y, 0.0)
        if _x * _x + _y * _y > 1.0:
            res.normalize()
        else:
            res.z = sqrt(1.0 - _x * _x - _y * _y)
        return res

    # 行列の積 (m1 * m2)
    def mult(self, m1, m2):
        assert(len(m1[0]) == len(m2))
        res = [[0 for i in range(len(m1))] for j in range(len(m2[0]))]
        for i in range(len(m1)):
            for j in range(len(m2[0])):
                sum = 0.0
                for k in range(len(m1[0])):
                    sum += m1[i][k] * m2[k][j]
                res[i][j] = sum
        return res


def torus(R, r, countS, countT):
    for s in range(countS):
        theta1 = map(s, 0, countS, 0, 2*PI)
        theta2 = map(s+1, 0, countS, 0, 2*PI)
        beginShape(TRIANGLE_STRIP)
        for t in range(countT+1):
            phi = map(t, 0, countT, 0, 2*PI)
            vertex((R+r*cos(phi))*cos(theta1), (R+r*cos(phi))*sin(theta1), r*sin(phi))
            vertex((R+r*cos(phi))*cos(theta2), (R+r*cos(phi))*sin(theta2), r*sin(phi))
        endShape()

mouseCamera = None

def setup():
    global mouseCamera
    size(800,800, P3D)
    mouseCamera = MouseCamera(800.0, 0.0, 0.0, (height / 2.0)/tan(PI*30.0/180.0), 0.0, 0.0, 0.0, 0.0, 1.0, 0.0) # MouseCameraの生成
    noFill()

def draw():
    background(200)
    mouseCamera.update()
    sphere(100);
    torus(250.0, 50.0, 60, 30);

def mousePressed():
    mouseCamera.mousePressed()
def mouseDragged():
    mouseCamera.mouseDragged()
def mouseWheel(event):
    mouseCamera.mouseWheel(event)