本文整理汇总了Python中pyrr.objects.quaternion.Quaternion类的典型用法代码示例。如果您正苦于以下问题：Python Quaternion类的具体用法？Python Quaternion怎么用？Python Quaternion使用的例子？那么恭喜您, 这里精选的类代码示例或许可以为您提供帮助。
在下文中一共展示了Quaternion类的15个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: test_decompose
def test_decompose(self):
# define expectations for multiple cases
testsets = [
(
Vector3([1, 1, 2], dtype='f4'),
Quaternion.from_y_rotation(np.pi, dtype='f4'),
Vector3([10, 0, -5], dtype='f4'),
Matrix44([
[-1, 0, 0, 0],
[0, 1, 0, 0],
[0, 0, -2, 0],
[10, 0, -5, 1],
], dtype='f4')
),
(
Vector3([-1, 3, .5], dtype='f4'),
Quaternion.from_axis_rotation(Vector3([.75, .75, 0], dtype='f4').normalized, np.pi, dtype='f4').normalized,
Vector3([1, -1, 1], dtype='f4'),
Matrix44([
[0, -1, 0, 0],
[3, 0, 0, 0],
[0, 0, -.5, 0],
[1, -1, 1, 1],
], dtype='f4')
),
]
for expected_scale, expected_rotation, expected_translation, expected_model in testsets:
# compose model matrix using original inputs
s = Matrix44.from_scale(expected_scale, dtype='f4')
r = Matrix44.from_quaternion(expected_rotation, dtype='f4')
t = Matrix44.from_translation(expected_translation, dtype='f4')
m = t * r * s
# check that it's the same as the expected matrix
np.testing.assert_almost_equal(np.array(m), np.array(expected_model))
self.assertTrue(m.dtype == expected_model.dtype)
self.assertTrue(isinstance(m, expected_model.__class__))
# decompose this matrix and recompose the model matrix from the decomposition
ds, dr, dt = m.decompose()
ds = Matrix44.from_scale(ds, dtype='f4')
dr = Matrix44.from_quaternion(dr, dtype='f4')
dt = Matrix44.from_translation(dt, dtype='f4')
dm = dt * dr * ds
# check that it's the same as the original matrix
np.testing.assert_almost_equal(np.array(m), np.array(dm))
self.assertTrue(m.dtype == dm.dtype)
self.assertTrue(isinstance(dm, m.__class__))示例2: test_from_axis
def test_from_axis(self):
source = np.array([np.pi / 2, 0, 0])
result = Quaternion.from_axis(source)
expected = np.array([np.sqrt(0.5), 0, 0, np.sqrt(0.5)])
self.assertTrue(np.allclose(result, expected))
source = np.array([0, np.pi, 0])
result = Quaternion.from_axis(source)
expected = np.array([0, 1, 0, 0])
self.assertTrue(np.allclose(result, expected))
source = np.array([0, 0, 2 * np.pi])
result = Quaternion.from_axis(source)
expected = np.array([0, 0, 0, -1])
self.assertTrue(np.allclose(result, expected))示例3: test_operators_quaternion
def test_operators_quaternion(self):
q1 = Quaternion()
q2 = Quaternion.from_x_rotation(0.5)
# add
self.assertRaises(ValueError, lambda: q1 + q2)
# subtract
# we had to add this to enable np.array_equal to work
# as it uses subtraction
#self.assertRaises(ValueError, lambda: q1 - q2)
# multiply
self.assertTrue(np.array_equal(q1 * q2, quaternion.cross(quaternion.create(), quaternion.create_from_x_rotation(0.5))))
# divide
self.assertRaises(ValueError, lambda: q1 / q2)
# or
self.assertTrue(np.array_equal(q1 | q2, quaternion.dot(quaternion.create(), quaternion.create_from_x_rotation(0.5))))
# inverse
self.assertTrue(np.array_equal(~q2, quaternion.conjugate(quaternion.create_from_x_rotation(0.5))))
# ==
self.assertTrue(Quaternion() == Quaternion())
self.assertFalse(Quaternion() == Quaternion([0., 0., 0., 0.]))
# !=
self.assertTrue(Quaternion() != Quaternion([1., 1., 1., 1.]))
self.assertFalse(Quaternion() != Quaternion())示例4: test_from_z_rotation
def test_from_z_rotation(self):
# 180 degree turn around Z axis
q = Quaternion.from_z_rotation(np.pi)
self.assertTrue(np.allclose(q, [0., 0., 1., 0.]))
self.assertTrue(np.allclose(q * Vector3([1., 0., 0.]), [-1., 0., 0.]))
self.assertTrue(np.allclose(q * Vector3([0., 1., 0.]), [0.,-1., 0.]))
self.assertTrue(np.allclose(q * Vector3([0., 0., 1.]), [0., 0., 1.]))
# 90 degree rotation around Z axis
q = Quaternion.from_z_rotation(np.pi / 2.)
self.assertTrue(np.allclose(q, [0., 0., np.sqrt(0.5), np.sqrt(0.5)]))
self.assertTrue(np.allclose(q * Vector3([1., 0., 0.]), [0., 1., 0.]))
self.assertTrue(np.allclose(q * Vector3([0., 1., 0.]), [-1., 0., 0.]))
self.assertTrue(np.allclose(q * Vector3([0., 0., 1.]), [0., 0., 1.]))
# -90 degree rotation around Z axis
q = Quaternion.from_z_rotation(-np.pi / 2.)
self.assertTrue(np.allclose(q, [0., 0., -np.sqrt(0.5), np.sqrt(0.5)]))
self.assertTrue(np.allclose(q * Vector3([1., 0., 0.]), [0.,-1., 0.]))
self.assertTrue(np.allclose(q * Vector3([0., 1., 0.]), [1., 0., 0.]))
self.assertTrue(np.allclose(q * Vector3([0., 0., 1.]), [0., 0., 1.]))示例5: test_accessors
def test_accessors(self):
q = Quaternion(np.arange(self._size))
self.assertTrue(np.array_equal(q.xy,[0,1]))
self.assertTrue(np.array_equal(q.xyz,[0,1,2]))
self.assertTrue(np.array_equal(q.xyzw,[0,1,2,3]))
self.assertTrue(np.array_equal(q.xz,[0,2]))
self.assertTrue(np.array_equal(q.xyz,[0,1,2]))
self.assertTrue(np.array_equal(q.xyw,[0,1,3]))
self.assertTrue(np.array_equal(q.xw,[0,3]))
self.assertEqual(q.x, 0)
self.assertEqual(q.y, 1)
self.assertEqual(q.z, 2)
self.assertEqual(q.w, 3)
q.x = 1
self.assertEqual(q.x, 1)
self.assertEqual(q[0], 1)
q.x += 1
self.assertEqual(q.x, 2)
self.assertEqual(q[0], 2)示例6: test_apply_to_vector_non_unit
def test_apply_to_vector_non_unit(self):
q = Quaternion.from_x_rotation(np.pi)
# zero length
v = Vector3([0., 0., 0.])
self.assertTrue(np.allclose(q * v, quaternion.apply_to_vector(quaternion.create_from_x_rotation(np.pi), [0., 0., 0.])))
# >1 length
v = Vector3([2., 0., 0.])
self.assertTrue(np.allclose(q * v, quaternion.apply_to_vector(quaternion.create_from_x_rotation(np.pi), [2., 0., 0.])))
v = Vector3([0., 2., 0.])
self.assertTrue(np.allclose(q * v, quaternion.apply_to_vector(quaternion.create_from_x_rotation(np.pi), [0., 2., 0.])))
v = Vector3([0., 0., 2.])
self.assertTrue(np.allclose(q * v, quaternion.apply_to_vector(quaternion.create_from_x_rotation(np.pi), [0., 0., 2.])))示例7: test_operators_quaternion
def test_operators_quaternion(self):
v = Vector3()
q = Quaternion.from_x_rotation(0.5)
# add
self.assertRaises(ValueError, lambda: v + q)
# subtract
self.assertRaises(ValueError, lambda: v - q)
# multiply
self.assertRaises(ValueError, lambda: v * q)
# divide
self.assertRaises(ValueError, lambda: v / q)示例8: test_operators_quaternion
def test_operators_quaternion(self):
m = Matrix33.identity()
q = Quaternion.from_x_rotation(0.7)
# add
self.assertRaises(ValueError, lambda: m + q)
# subtract
self.assertRaises(ValueError, lambda: m - q)
# multiply
self.assertTrue(np.array_equal(m * q, matrix33.multiply(matrix33.create_identity(), matrix33.create_from_quaternion(quaternion.create_from_x_rotation(0.7)))))
# divide
self.assertRaises(ValueError, lambda: m / q)示例9: test_operators_vector4
def test_operators_vector4(self):
q = Quaternion.from_x_rotation(0.5)
v = Vector4([1.,0.,0.,1.])
# add
self.assertRaises(ValueError, lambda: q + v)
# subtract
self.assertRaises(ValueError, lambda: q - v)
# multiply
self.assertTrue(np.array_equal(q * v, quaternion.apply_to_vector(quaternion.create_from_x_rotation(0.5), [1.,0.,0.,1.])))
# divide
self.assertRaises(ValueError, lambda: q / v)示例10: test_operators_quaternion
def test_operators_quaternion(self):
q1 = Quaternion()
q2 = Quaternion.from_x_rotation(0.5)
# add
self.assertRaises(ValueError, lambda: q1 + q2)
# subtract
self.assertRaises(ValueError, lambda: q1 - q2)
# multiply
self.assertTrue(np.array_equal(q1 * q2, quaternion.cross(quaternion.create(), quaternion.create_from_x_rotation(0.5))))
# divide
self.assertRaises(ValueError, lambda: q1 / q2)
# or
self.assertTrue(np.array_equal(q1 | q2, quaternion.dot(quaternion.create(), quaternion.create_from_x_rotation(0.5))))
# inverse
self.assertTrue(np.array_equal(~q2, quaternion.conjugate(quaternion.create_from_x_rotation(0.5))))示例11: test_create_from_inverse_quaternion
def test_create_from_inverse_quaternion(self):
q = Quaternion.from_x_rotation(0.5)
m = Matrix33.from_inverse_of_quaternion(q)
expected = matrix33.create_from_quaternion(quaternion.inverse(quaternion.create_from_x_rotation(0.5)))
np.testing.assert_almost_equal(np.array(m), expected, decimal=5)示例12: test_dot
def test_dot(self):
q1 = Quaternion.from_x_rotation(np.pi / 2.0)
q2 = Quaternion.from_y_rotation(np.pi / 2.0)
self.assertTrue(np.allclose(q1.dot(q2), quaternion.dot(q1, q2)))示例13: test_axis
def test_axis(self):
q = Quaternion.from_x_rotation(np.pi / 2.0)
self.assertTrue(np.allclose(q.axis, quaternion.rotation_axis(q)))示例14: test_angle
def test_angle(self):
q = Quaternion.from_x_rotation(np.pi / 2.0)
self.assertEqual(q.angle, quaternion.rotation_angle(q))示例15: test_normalise
def test_normalise(self):
q = Quaternion([1.,2.,3.,4.])
self.assertFalse(np.allclose(q.length, 1.))
q.normalise()
self.assertTrue(np.allclose(q.length, 1.))