#!/usr/bin/env python

from numpy import *
from math import cos, sin, radians
import sys

def usage():
	print """Usage: transform.py option x y z alpha beta gama [sx sy sz]
option:
-w		- world transformation(default mode)
-c		- camera transformation
x, y, z		- object translation
alpha		- rotation about the x-axis in degree
beta		- rotation about the y-axis in degree
gama		- rotation about the z-axis in degree
sx, sy, sz	- object scale(only available in world transform) 
"""

def world_transform(x, y, z, alpha, beta, gama, sx="1", sy="1", sz="1"):
	alpha = radians(float(alpha))
	beta = radians(float(beta))
	gama = radians(float(gama))

	trans = matrix("1 0 0 %s; 0 1 0 %s; 0 0 1 %s; 0 0 0 1" % (x, y, z))
	rx = matrix([
		[1, 0, 0, 0], 
		[0, cos(alpha), -sin(alpha), 0],
		[0, sin(alpha), cos(alpha), 0],
		[0, 0, 0, 1]
	])

	ry = matrix([
		[cos(beta), 0, sin(beta), 0],
		[0, 1, 0, 0], 
		[-sin(beta), 0, cos(beta), 0],
		[0, 0, 0, 1]
	])

	rz = matrix([
		[cos(gama), -sin(gama), 0, 0],
		[sin(gama), cos(gama), 0, 0],
		[0, 0, 1, 0],
		[0, 0, 0, 1]
	])
	
	scale = matrix("%s 0 0 0; 0 %s 0 0; 0 0 %s 0; 0 0 0 1" % (sx, sy, sz))
	return trans * rx * ry * rz * scale

def camera_transform(x, y, z, alpha, beta, gama):
	alpha = radians(float(alpha))
	beta = radians(float(beta))
	gama = radians(float(gama))

	trans = matrix("1 0 0 -%s; 0 1 0 -%s; 0 0 1 -%s; 0 0 0 1" % (x, y, z))
	rx = matrix([
		[1, 0, 0, 0], 
		[0, cos(alpha), sin(alpha), 0],
		[0, -sin(alpha), cos(alpha), 0],
		[0, 0, 0, 1]
	])

	ry = matrix([
		[cos(beta), 0, -sin(beta), 0],
		[0, 1, 0, 0], 
		[sin(beta), 0, cos(beta), 0],
		[0, 0, 0, 1]
	])

	rz = matrix([
		[cos(gama), sin(gama), 0, 0],
		[-sin(gama), cos(gama), 0, 0],
		[0, 0, 1, 0],
		[0, 0, 0, 1]
	])
	
	return trans * rx * ry * rz




def main():
	import getopt
	import pdb
	try :
		opts, args = getopt.getopt(sys.argv[1:], "wc")
	except getopt.GetoptError:
		pdb.set_trace()
		usage()
		sys.exit(1)
	for o, a in opts:
		if o == "-w":
			trans = world_transform(*args)
		if o == "-c":
			trans = camera_transform(*args)
	for x in sys.stdin.xreadlines():
		if x[0].isdigit():
			z = trans * matrix(x + " 1").transpose()
			print "\t".join( ["%f" % x for x in z.transpose().tolist()[0] ])
		else:
			print x

if __name__ == "__main__":
	main()