Uranium
Application Framework
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UM.Math.Quaternion.Quaternion Class Reference

Unit Quaternion class based on numpy arrays. More...

Inherits object.

Public Member Functions

 __init__ (self, x=0.0, y=0.0, z=0.0, w=1.0)
 
 getData (self)
 
 x (self)
 
 y (self)
 
 z (self)
 
 w (self)
 
 setByAngleAxis (self, angle, axis)
 Set quaternion by providing rotation about an axis.
 
 __mul__ (self, other)
 
 __imul__ (self, other)
 
 __add__ (self, other)
 
 __iadd__ (self, other)
 
 __truediv__ (self, other)
 
 __itruediv__ (self, other)
 
 __eq__ (self, other)
 
 __neg__ (self)
 
 getInverse (self)
 
 invert (self)
 
 rotate (self, vector)
 
 dot (self, other)
 
 length (self)
 
 normalize (self)
 
 setByMatrix (self, matrix, is_precise=False)
 Set quaternion by providing a homogenous (4x4) rotation matrix.
 
 toMatrix (self)
 
 __repr__ (self)
 

Static Public Member Functions

 slerp (start, end, amount)
 
 rotationTo (v1, v2)
 Returns a quaternion representing the rotation from vector 1 to vector 2.
 
 fromMatrix (matrix)
 
 fromAngleAxis (angle, 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.

Parameters
v1Vector The vector to rotate from.
v2Vector The vector to rotate to.

◆ setByAngleAxis()

UM.Math.Quaternion.Quaternion.setByAngleAxis (   self,
  angle,
  axis 
)

Set quaternion by providing rotation about an axis.

Parameters
anglefloat Angle in radians
axisVector Axis of rotation

◆ setByMatrix()

UM.Math.Quaternion.Quaternion.setByMatrix (   self,
  matrix,
  is_precise = False 
)

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

Parameters
matrix4x4 Matrix object
is_precise

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