This is the Matrix export class Base.Matrix class. A 4x4 Matrix. In particular, this matrix can represent an affine transformation, that is, given a 3D vector `x`, apply the transformation y = M*x + b, where the matrix `M` is a linear map and the vector `b` is a translation. `y` can be obtained using a linear transformation represented by the 4x4 matrix `A` conformed by the augmented 3x4 matrix (M|b), augmented by row with (0,0,0,1), therefore: (y, 1) = A*(x, 1). The following constructors are supported: Matrix() Empty constructor. Matrix(matrix) Copy constructor. matrix : Base.Matrix. Matrix(*coef) Define from 16 coefficients of the 4x4 matrix. coef : sequence of float The sequence can have up to 16 elements which complete the matrix by rows. Matrix(vector1, vector2, vector3, vector4) Define from four 3D vectors which represent the columns of the 3x4 submatrix, useful to represent an affine transformation. The fourth row is made up by (0,0,0,1). vector1 : Base.Vector vector2 : Base.Vector vector3 : Base.Vector vector4 : Base.Vector Default to (0,0,0). Optional. move(vector) -> None move(x, y, z) -> None Move the matrix along a vector, equivalent to left multiply the matrix by a pure translation transformation. vector : Base.Vector, tuple x : float `x` translation. y : float `y` translation. z : float `z` translation. scale(vector) -> None scale(x, y, z) -> None scale(factor) -> None Scale the first three rows of the matrix. vector : Base.Vector x : float First row factor scale. y : float Second row factor scale. z : float Third row factor scale. factor : float global factor scale. hasScale(tol=0) -> ScaleType Return an enum value of ScaleType. Possible values are: Uniform, NonUniformLeft, NonUniformRight, NoScaling or Other if it's not a scale matrix. tol : float decompose() -> Base.Matrix, Base.Matrix, Base.Matrix, Base.Matrix\n Return a tuple of matrices representing shear, scale, rotation and move. So that matrix = move * rotation * scale * shear. nullify() -> None Make this the null matrix. isNull() -> bool Check if this is the null matrix. unity() -> None Make this matrix to unity (4D identity matrix). isUnity() -> bool Check if this is the unit matrix (4D identity matrix). transform(vector, matrix2) -> None Transform the matrix around a given point. Equivalent to left multiply the matrix by T*M*T_inv, where M is `matrix2`, T the translation generated by `vector` and T_inv the inverse translation. For example, if `matrix2` is a rotation, the result is the transformation generated by the current matrix followed by a rotation around the point represented by `vector`. vector : Base.Vector matrix2 : Base.Matrix col(index) -> Base.Vector Return the vector of a column, that is, the vector generated by the three first elements of the specified column. index : int Required column index. setCol(index, vector) -> None Set the vector of a column, that is, the three first elements of the specified column by index. index : int Required column index. vector : Base.Vector row(index) -> Base.Vector Return the vector of a row, that is, the vector generated by the three first elements of the specified row. index : int Required row index. setRow(index, vector) -> None Set the vector of a row, that is, the three first elements of the specified row by index. index : int Required row index. vector : Base.Vector diagonal() -> Base.Vector Return the diagonal of the 3x3 leading principal submatrix as vector. setDiagonal(vector) -> None Set the diagonal of the 3x3 leading principal submatrix. vector : Base.Vector rotateX(angle) -> None Rotate around X axis. angle : float Angle in radians. rotateY(angle) -> None Rotate around Y axis. angle : float Angle in radians. rotateZ(angle) -> None Rotate around Z axis. angle : float Angle in radians. multiply(matrix) -> Base.Matrix multiply(vector) -> Base.Vector Right multiply the matrix by the given object. If the argument is a vector, this is augmented to the 4D vector (`vector`, 1). matrix : Base.Matrix vector : Base.Vector multVec(vector) -> Base.Vector Compute the transformed vector using the matrix. vector : Base.Vector invert() -> None Compute the inverse matrix in-place, if possible. inverse() -> Base.Matrix Compute the inverse matrix, if possible. transpose() -> None Transpose the matrix in-place. transposed() -> Base.Matrix Returns a transposed copy of this matrix. determinant() -> float Compute the determinant of the matrix. isOrthogonal(tol=1e-6) -> float Checks if the matrix is orthogonal, i.e. M * M^T = k*I and returns the multiple of the identity matrix. If it's not orthogonal 0 is returned. tol : float Tolerance used to check orthogonality. submatrix(dim) -> Base.Matrix Get the leading principal submatrix of the given dimension. The (4 - `dim`) remaining dimensions are completed with the corresponding identity matrix. dim : int Dimension parameter must be in the range [1,4]. analyze() -> str Analyzes the type of transformation. The (1,1) matrix element. The (1,2) matrix element. The (1,3) matrix element. The (1,4) matrix element. The (2,1) matrix element. The (2,2) matrix element. The (2,3) matrix element. The (2,4) matrix element. The (3,1) matrix element. The (3,2) matrix element. The (3,3) matrix element. The (3,4) matrix element. The (4,1) matrix element. The (4,2) matrix element. The (4,3) matrix element. The (4,4) matrix element. The matrix elements. public: MatrixPy(const Matrix4D & mat, PyTypeObject *T = &Type) :PyObjectBase(new Matrix4D(mat),T){} Matrix4D value() const { return *(getMatrixPtr()); }