Quaternion

Added in version 1.0.

class Quaternion(*args, **kwargs)

A quaternion.

The contents of the Quaternion structure are private and should never be accessed directly.

Constructors

class Quaternion
classmethod alloc() → Quaternion

Allocates a new Quaternion.

The contents of the returned value are undefined.

Added in version 1.0.

Methods

class Quaternion
add(b: Quaternion) → Quaternion

Adds two Quaternion a and b.

Added in version 1.10.

Parameters:

b – a Quaternion

dot(b: Quaternion) → float

Computes the dot product of two Quaternion.

Added in version 1.0.

Parameters:

b – a Quaternion

equal(b: Quaternion) → bool

Checks whether the given quaternions are equal.

Added in version 1.0.

Parameters:

b – a Quaternion

free() → None

Releases the resources allocated by alloc().

Added in version 1.0.

init(x: float, y: float, z: float, w: float) → Quaternion

Initializes a Quaternion using the given four values.

Added in version 1.0.

Parameters:

  • x – the first component of the quaternion

  • y – the second component of the quaternion

  • z – the third component of the quaternion

  • w – the fourth component of the quaternion

init_from_angle_vec3(angle: float, axis: Vec3) → Quaternion

Initializes a Quaternion using an angle on a specific axis.

Added in version 1.0.

Parameters:

  • angle – the rotation on a given axis, in degrees

  • axis – the axis of rotation, expressed as a vector

init_from_angles(deg_x: float, deg_y: float, deg_z: float) → Quaternion

Initializes a Quaternion using the values of the Euler angles on each axis.

See also: init_from_euler()

Added in version 1.0.

Parameters:

  • deg_x – rotation angle on the X axis (yaw), in degrees

  • deg_y – rotation angle on the Y axis (pitch), in degrees

  • deg_z – rotation angle on the Z axis (roll), in degrees

init_from_euler(e: Euler) → Quaternion

Initializes a Quaternion using the given Euler.

Added in version 1.2.

Parameters:

e – a Euler

init_from_matrix(m: Matrix) → Quaternion

Initializes a Quaternion using the rotation components of a transformation matrix.

Added in version 1.0.

Parameters:

m – a Matrix

init_from_quaternion(src: Quaternion) → Quaternion

Initializes a Quaternion with the values from src.

Added in version 1.0.

Parameters:

src – a Quaternion

init_from_radians(rad_x: float, rad_y: float, rad_z: float) → Quaternion

Initializes a Quaternion using the values of the Euler angles on each axis.

See also: init_from_euler()

Added in version 1.0.

Parameters:

  • rad_x – rotation angle on the X axis (yaw), in radians

  • rad_y – rotation angle on the Y axis (pitch), in radians

  • rad_z – rotation angle on the Z axis (roll), in radians

init_from_vec4(src: Vec4) → Quaternion

Initializes a Quaternion with the values from src.

Added in version 1.0.

Parameters:

src – a Vec4

init_identity() → Quaternion

Initializes a Quaternion using the identity transformation.

Added in version 1.0.

invert() → Quaternion

Inverts a Quaternion, and returns the conjugate quaternion of q.

Added in version 1.0.

multiply(b: Quaternion) → Quaternion

Multiplies two Quaternion a and b.

Added in version 1.10.

Parameters:

b – a Quaternion

normalize() → Quaternion

Normalizes a Quaternion.

Added in version 1.0.

scale(factor: float) → Quaternion

Scales all the elements of a Quaternion q using the given scalar factor.

Added in version 1.10.

Parameters:

factor – a scaling factor

slerp(b: Quaternion, factor: float) → Quaternion

Interpolates between the two given quaternions using a spherical linear interpolation, or SLERP, using the given interpolation factor.

Added in version 1.0.

Parameters:

  • b – a Quaternion

  • factor – the linear interpolation factor

to_angle_vec3() → tuple[float, Vec3]

Converts a quaternion into an angle, axis pair.

Added in version 1.0.

to_angles() → tuple[float, float, float]

Converts a Quaternion to its corresponding rotations on the Euler angles on each axis.

Added in version 1.2.

to_matrix() → Matrix

Converts a quaternion into a transformation matrix expressing the rotation defined by the Quaternion.

Added in version 1.0.

to_radians() → tuple[float, float, float]

Converts a Quaternion to its corresponding rotations on the Euler angles on each axis.

Added in version 1.2.

to_vec4() → Vec4

Copies the components of a Quaternion into a Vec4.

Added in version 1.0.

Fields

class Quaternion
w
x
y
z