Welcome to Python-flavored Magnum! Please note that, while already being rather stable, this functionality is still considered experimental and some APIs might get changed without preserving full backwards compatibility.

magnum.Quaternion class

Float quaternion

Static methods

def from_matrix(matrix: Matrix3x3) -> Quaternion: Create a quaternion from rotation matrix
def identity_init() -> Quaternion: Construct an identity quaternion
def reflection(normal: Vector3) -> Quaternion: Reflection quaternion
def rotation(angle: Rad, normalized_axis: Vector3) -> Quaternion: Rotation quaternion
def rotation(normalized_from: Vector3, normalized_to: Vector3) -> Quaternion: Quaternion rotating from a vector to another
def zero_init() -> Quaternion: Construct a zero-initialized quaternion

Methods

def angle(self, /) -> Rad: Rotation angle of a unit quaternion
def axis(self, /) -> Vector3: Rotation axis of a unit quaternion
def conjugated(self, /) -> Quaternion: Conjugated quaternion
def dot(self, /) -> float: Dot product of the quaternion
def inverted(self, /) -> Quaternion: Inverted quaternion
def inverted_normalized(self, /) -> Quaternion: Inverted normalized quaternion
def is_normalized(self, /) -> bool: Whether the quaternion is normalized
def length(self, /) -> float: Quaternion length
def normalized(self, /) -> Quaternion: Normalized quaternion (of unit length)
def reflect_vector(self, vector: Vector3) -> Vector3: Reflect a vector with a reflection quaternion
def to_matrix(self, /) -> Matrix3x3: Convert to a rotation matrix
def transform_vector(self, vector: Vector3) -> Vector3: Rotate a vector with a quaternion
def transform_vector_normalized(self, vector: Vector3) -> Vector3: Rotate a vector with a normalized quaternion

Special methods

def __add__(self, arg0: Quaternion, /) -> Quaternion: Add a quaternion
def __eq__(self, arg0: Quaternion, /) -> bool: Equality comparison
def __getstate__(self, /) -> bytes: Dumps the in-memory representation of quaternion components
def __iadd__(self, arg0: Quaternion, /) -> Quaternion: Add and assign a quaternion
def __imul__(self, arg0: float, /) -> Quaternion: Multiply with a scalar and assign
def __init__(self, /) -> None: Default constructor
def __init__(self, arg0: Vector3, arg1: float, /) -> None: Construct from a vector and a scalar
def __init__(self, arg0: tuple[tuple[float, float, float], float], /) -> None: Construct from a tuple
def __init__(self, arg0: Vector3, /) -> None: Construct from a vector
def __init__(self, arg0: Quaterniond, /) -> None: Construct from different underlying type
def __isub__(self, arg0: Quaternion, /) -> Quaternion: Subtract and assign a quaternion
def __itruediv__(self, arg0: float, /) -> Quaternion: Divide with a scalar and assign
def __mul__(self, arg0: float, /) -> Quaternion: Multiply with a scalar
def __mul__(self, arg0: Quaternion, /) -> Quaternion: Multiply with a quaternion
def __ne__(self, arg0: Quaternion, /) -> bool: Non-equality comparison
def __neg__(self, /) -> Quaternion: Negated quaternion
def __repr__(self, /) -> str: Object representation
def __rmul__(self, arg0: float, /) -> Quaternion: Multiply a scalar with a quaternion
def __rtruediv__(self, arg0: float, /) -> Quaternion: Divide a quaternion with a scalar and invert
def __setstate__(self, arg0: bytes, /) -> None: Treats the data as the in-memory representation of quaternion components
def __sub__(self, arg0: Quaternion, /) -> Quaternion: Subtract a quaternion
def __truediv__(self, arg0: float, /) -> Quaternion: Divide with a scalar

Properties

scalar: float get set: Scalar part
vector: Vector3 get set: Vector part

Method documentation

def magnum.Quaternion.from_matrix(matrix: Matrix3x3) -> Quaternion staticmethod

Create a quaternion from rotation matrix

Exceptions
ValueError	If `matrix` is not a rotation

def magnum.Quaternion.reflection(normal: Vector3) -> Quaternion staticmethod

Reflection quaternion

Exceptions
ValueError	If `normal` is not normalized

def magnum.Quaternion.rotation(angle: Rad, normalized_axis: Vector3) -> Quaternion staticmethod

Rotation quaternion

Exceptions
ValueError	If `normalized_axis` is not normalized

def magnum.Quaternion.rotation(normalized_from: Vector3, normalized_to: Vector3) -> Quaternion staticmethod

Quaternion rotating from a vector to another

Exceptions
ValueError	If either of the vectors is not normalized

def magnum.Quaternion.angle(self, /) -> Rad

Rotation angle of a unit quaternion

Exceptions
ValueError	If the quaternion is not normalized

def magnum.Quaternion.axis(self, /) -> Vector3

Rotation axis of a unit quaternion

Exceptions
ValueError	If the quaternion is not normalized

def magnum.Quaternion.inverted_normalized(self, /) -> Quaternion

Inverted normalized quaternion

Exceptions
ValueError	If the quaternion is not normalized

def magnum.Quaternion.transform_vector_normalized(self, vector: Vector3) -> Vector3

Rotate a vector with a normalized quaternion

Exceptions
ValueError	If the quaternion is not normalized

def magnum.Quaternion.setstate(self, arg0: bytes, /) -> None

Treats the data as the in-memory representation of quaternion components

Exceptions
ValueError	If the data size doesn’t match type size