nanome.util.quaternion module

class Quaternion(x=0, y=0, z=0, w=1)

Bases: object

A vector that holds 4 values. Used for rotation.

EPS = 1e-06

dot(other)

Returns the dot between this and another Quaternion

Parameters:other (Quaternion) – Quaternion to dot product with Returns:A float value representing the dot product. Return type:float

equals(other)

classmethod from_matrix(matrix)

Creates a Quaternion from a 4x4 affine transformation matrix.

Parameters:matrix (list <list <float>>) – A 4x4 affine transformation matrix Returns:A Quaternion representing a rotation. Return type:Quaternion

get_conjugate()

Returns the conjugate of this Quaternion.

Returns:A new Quaternion that is the conjugate of this Quaternion. Return type:Quaternion

get_copy()

Returns:A copy of this Quaternion. Return type:Quaternion

rotate_vector(point)

Rotates a vector using this Quaternion.

Parameters:point (Vector3) – The vector to rotate Returns:A rotated vector. Return type:vector3

set(x, y, z, w)

w

Returns:This quaternion’s w component. Return type:float

x

Returns:This quaternion’s x component. Return type:float

y

Returns:This quaternion’s y component. Return type:float

z

Returns:This quaternion’s z component. Return type:float