panda3d.core.LQuaterniond¶

class LQuaterniond¶

Bases: LVecBase4d

This is the base quaternion class

Inheritance diagram

__init__() → None¶

__init__(param0: LQuaterniond) → None

__init__(copy: LVecBase4d) → None

__init__(r: float, copy: LVecBase3d) → None

__init__(r: float, i: float, j: float, k: float) → None

static pureImaginary(v: LVector3d) → LQuaterniond¶

Return type: LQuaterniond

conjugate() → LQuaterniond¶

Returns the complex conjugate of this quat.

Return type: LQuaterniond

xform(v: LVecBase3d) → LVecBase3d¶

Transforms a 3-d vector by the indicated rotation

Return type: LVecBase3d

xform(v: LVecBase4d) → LVecBase4d

Transforms a 4-d vector by the indicated rotation

Return type: LVecBase4d

multiply(rhs: LQuaterniond) → LQuaterniond¶

actual multiply call (non virtual)

Return type: LQuaterniond

angleRad(other: LQuaterniond) → float¶: Returns the angle between the orientation represented by this quaternion and the other one, expressed in radians.

angleDeg(other: LQuaterniond) → float¶: Returns the angle between the orientation represented by this quaternion and the other one, expressed in degrees.

almostEqual(other: LQuaterniond) → bool¶: Returns true if two quaternions are memberwise equal within a default tolerance based on the numeric type.

almostEqual(other: LQuaterniond, threshold: float) → bool: Returns true if two quaternions are memberwise equal within a specified tolerance.

isSameDirection(other: LQuaterniond) → bool¶: Returns true if two quaternions represent the same rotation within a default tolerance based on the numeric type.

almostSameDirection(other: LQuaterniond, threshold: float) → bool¶: Returns true if two quaternions represent the same rotation within a specified tolerance.

output(param0: ostream) → None¶

extractToMatrix(m: LMatrix3d) → None¶: Based on the quat lib from VRPN.

extractToMatrix(m: LMatrix4d) → None: Based on the quat lib from VRPN.

setFromMatrix(m: LMatrix3d) → None¶: Sets the quaternion according to the rotation represented by the matrix. Originally we tried an algorithm presented by Do-While Jones, but that turned out to be broken. This is based on the quat lib from UNC.

setFromMatrix(m: LMatrix4d) → None

setHpr(hpr: LVecBase3d, cs: CoordinateSystem) → None¶: Sets the quaternion as the unit quaternion that is equivalent to these Euler angles. (from Real-time Rendering, p.49)

getHpr(cs: CoordinateSystem) → LVecBase3d¶

Extracts the equivalent Euler angles from the unit quaternion.

Return type: LVecBase3d

getAxis() → LVector3d¶

This, along with getAngle(), returns the rotation represented by the quaternion as an angle about an arbitrary axis. This returns the axis; it is not normalized.

Return type: LVector3d

getAxisNormalized() → LVector3d¶

This, along with getAngle(), returns the rotation represented by the quaternion as an angle about an arbitrary axis. This returns the normalized axis.

Return type: LVector3d

getAngleRad() → float¶

This, along with getAxis(), returns the rotation represented by the quaternion as an angle about an arbitrary axis. This returns the angle, in radians counterclockwise about the axis.

It is necessary to ensure the quaternion has been normalized (for instance, with a call to normalize()) before calling this method.

getAngle() → float¶

This, along with getAxis(), returns the rotation represented by the quaternion as an angle about an arbitrary axis. This returns the angle, in degrees counterclockwise about the axis.

It is necessary to ensure the quaternion has been normalized (for instance, with a call to normalize()) before calling this method.

setFromAxisAngleRad(angle_rad: float, axis: LVector3d) → None¶: angle_rad is the angle about the axis in radians. axis must be normalized.

setFromAxisAngle(angle_deg: float, axis: LVector3d) → None¶: angle_deg is the angle about the axis in degrees. axis must be normalized.

getUp(cs: CoordinateSystem) → LVector3d¶

Returns the orientation represented by this quaternion, expressed as an up vector.

Return type: LVector3d

getRight(cs: CoordinateSystem) → LVector3d¶

Returns the orientation represented by this quaternion, expressed as a right vector.

Return type: LVector3d

getForward(cs: CoordinateSystem) → LVector3d¶

Returns the orientation represented by this quaternion, expressed as a forward vector.

Return type: LVector3d

getR() → float¶

getI() → float¶

getJ() → float¶

getK() → float¶

setR(r: float) → None¶

setI(i: float) → None¶

setJ(j: float) → None¶

setK(k: float) → None¶

normalize() → bool¶

conjugateFrom(other: LQuaterniond) → bool¶

Computes the conjugate of the other quat, and stores the result in this quat. This is a fully general operation and makes no assumptions about the type of transform represented by the quat.

The other quat must be a different object than this quat. However, if you need to get a conjugate of a quat in place, see conjugate_in_place.

The return value is true if the quat was successfully inverted, false if there was a singularity.

conjugateInPlace() → bool¶: Sets this to be the conjugate of the current quat. Returns true if the successful, false if the quat was singular.

invertFrom(other: LQuaterniond) → bool¶

Computes the inverse of the other quat, and stores the result in this quat. This is a fully general operation and makes no assumptions about the type of transform represented by the quat.

The other quat must be a different object than this quat. However, if you need to invert a quat in place, see invert_in_place.

The return value is true if the quat was successfully inverted, false if there was a singularity.

invertInPlace() → bool¶: Inverts the current quat. Returns true if the inverse is successful, false if the quat was singular.

isIdentity() → bool¶: Returns true if this quaternion represents the identity transformation: no rotation.

isAlmostIdentity(tolerance: float) → bool¶: Returns true if this quaternion represents the identity transformation within a given tolerance.

static identQuat() → LQuaterniond¶

Returns an identity quaternion.

Return type: LQuaterniond

static getClassType() → TypeHandle¶

Return type: TypeHandle