UM.Math.Quaternion.Quaternion Class Reference

Public Member Functions
None	__init__ (self, float x=0.0, float y=0.0, float z=0.0, float w=1.0)
	getData (self)
	x (self)
	y (self)
	z (self)
	w (self)
None	setByAngleAxis (self, float angle, Vector axis)
	__mul__ (self, other)
	__imul__ (self, other)
	__add__ (self, other)
	__iadd__ (self, other)
	__truediv__ (self, other)
	__itruediv__ (self, other)
	__eq__ (self, other)
	__neg__ (self)
"Quaternion"	getInverse (self)
"Quaternion"	invert (self)
	rotate (self, vector)
	dot (self, other)
float	length (self)
None	normalize (self)
None	setByMatrix (self, Matrix matrix, bool ensure_unit_length=False)
Matrix	toMatrix (self)
	__repr__ (self)
	__str__ (self)

Static Public Member Functions
	slerp (start, end, amount)
	rotationTo (v1, v2)
"Quaternion"	fromMatrix (Matrix matrix)
"Quaternion"	fromAngleAxis (float angle, Vector axis)

Public Attributes
	x
	y
	z
	w

Static Public Attributes
float	EPS = numpy.finfo(float).eps * 4.0

Protected Attributes
	_data

Detailed Description

Unit Quaternion class based on numpy arrays.

This class represents a Unit quaternion that can be used for rotations.

:note The operations that modify this quaternion will ensure the length
of the quaternion remains 1. This is done to make this class simpler
to use.

Member Function Documentation

rotationTo()

UM.Math.Quaternion.Quaternion.rotationTo (   v1,   v2  )

static

Returns a quaternion representing the rotation from vector 1 to vector 2.

:param v1: :type{Vector} The vector to rotate from.
:param v2: :type{Vector} The vector to rotate to.

setByAngleAxis()

None UM.Math.Quaternion.Quaternion.setByAngleAxis	(		self,
		float	angle,
		Vector	axis
	)

Set quaternion by providing rotation about an axis.

:param angle: :type{float} Angle in radians
:param axis: :type{Vector} Axis of rotation

setByMatrix()

None UM.Math.Quaternion.Quaternion.setByMatrix	(		self,
		Matrix	matrix,
		bool	ensure_unit_length = False
	)

Set quaternion by providing a homogeneous (4x4) rotation matrix.

:param matrix: 4x4 Matrix object
:param ensure_unit_length:

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The documentation for this class was generated from the following file:

• UM/Math/Quaternion.py