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QQuaternion¶
The QQuaternion class represents a quaternion consisting of a vector and scalar. More…
New in version 4.6.
Synopsis¶
Functions¶
def
__add__(q2)def
__div__(divisor)def
__eq__(q2)def
__iadd__(quaternion)def
__idiv__(divisor)def
__imul__(factor)def
__imul__(quaternion)def
__isub__(quaternion)def
__mul__(factor)def
__mul__(factor)def
__mul__(q2)def
__ne__(q2)def
__reduce__()def
__repr__()def
__sub__()def
__sub__(q2)def
conjugated()def
getAxes(xAxis, yAxis, zAxis)def
inverted()def
isIdentity()def
isNull()def
length()def
lengthSquared()def
normalize()def
normalized()def
rotatedVector(vector)def
scalar()def
setScalar(scalar)def
setVector(vector)def
setVector(x, y, z)def
setX(x)def
setY(y)def
setZ(z)def
toEulerAngles()def
toRotationMatrix()def
toVector4D()def
vector()def
x()def
y()def
z()
Static functions¶
def
dotProduct(q1, q2)def
fromAxes(xAxis, yAxis, zAxis)def
fromAxisAndAngle(axis, angle)def
fromAxisAndAngle(x, y, z, angle)def
fromDirection(direction, up)def
fromEulerAngles(eulerAngles)def
fromEulerAngles(pitch, yaw, roll)def
fromRotationMatrix(rot3x3)def
nlerp(q1, q2, t)def
rotationTo(from, to)def
slerp(q1, q2, t)
Detailed Description¶
Quaternions are used to represent rotations in 3D space, and consist of a 3D rotation axis specified by the x, y, and z coordinates, and a scalar representing the rotation angle.
- class PySide6.QtGui.QQuaternion¶
PySide6.QtGui.QQuaternion(vector)
PySide6.QtGui.QQuaternion(scalar, vector)
PySide6.QtGui.QQuaternion(scalar, xpos, ypos, zpos)
- Parameters
scalar – float
xpos – float
vector –
PySide6.QtGui.QVector4Dzpos – float
ypos – float
Constructs an identity quaternion (1, 0, 0, 0), i.e. with the vector (0, 0, 0) and scalar 1.
Constructs a quaternion from the components of vector.
Constructs a quaternion vector from the specified vector and scalar.
Constructs a quaternion with the vector (xpos, ypos, zpos) and scalar.
- PySide6.QtGui.QQuaternion.__reduce__()¶
- Return type
object
- PySide6.QtGui.QQuaternion.__repr__()¶
- Return type
object
- PySide6.QtGui.QQuaternion.conjugated()¶
- Return type
Returns the conjugate of this quaternion, which is (-x, -y, -z, scalar).
- static PySide6.QtGui.QQuaternion.dotProduct(q1, q2)¶
- Parameters
- Return type
float
Returns the dot product of q1 and q2.
See also
- static PySide6.QtGui.QQuaternion.fromAxes(xAxis, yAxis, zAxis)¶
- Parameters
xAxis –
PySide6.QtGui.QVector3DyAxis –
PySide6.QtGui.QVector3DzAxis –
PySide6.QtGui.QVector3D
- Return type
Constructs the quaternion using 3 axes (xAxis, yAxis, zAxis).
- static PySide6.QtGui.QQuaternion.fromAxisAndAngle(axis, angle)¶
- Parameters
axis –
PySide6.QtGui.QVector3Dangle – float
- Return type
Creates a normalized quaternion that corresponds to rotating through angle degrees about the specified 3D axis.
See also
getAxisAndAngle()
- static PySide6.QtGui.QQuaternion.fromAxisAndAngle(x, y, z, angle)
- Parameters
x – float
y – float
z – float
angle – float
- Return type
Creates a normalized quaternion that corresponds to rotating through angle degrees about the 3D axis (x, y, z).
See also
getAxisAndAngle()
- static PySide6.QtGui.QQuaternion.fromDirection(direction, up)¶
- Parameters
direction –
PySide6.QtGui.QVector3D
- Return type
Constructs the quaternion using specified forward direction direction and upward direction up. If the upward direction was not specified or the forward and upward vectors are collinear, a new orthonormal upward direction will be generated.
See also
- static PySide6.QtGui.QQuaternion.fromEulerAngles(eulerAngles)¶
- Parameters
eulerAngles –
PySide6.QtGui.QVector3D- Return type
This is an overloaded function.
Creates a quaternion that corresponds to a rotation of eulerAngles: eulerAngles. z() degrees around the z axis, eulerAngles. x() degrees around the x axis, and eulerAngles. y() degrees around the y axis (in that order).
See also
- static PySide6.QtGui.QQuaternion.fromEulerAngles(pitch, yaw, roll)
- Parameters
pitch – float
yaw – float
roll – float
- Return type
Creates a quaternion that corresponds to a rotation of roll degrees around the z axis, pitch degrees around the x axis, and yaw degrees around the y axis (in that order).
See also
getEulerAngles()
- static PySide6.QtGui.QQuaternion.fromRotationMatrix(rot3x3)¶
- Parameters
rot3x3 –
PySide6.QtGui.QMatrix3x3- Return type
Creates a quaternion that corresponds to a rotation matrix rot3x3.
Note
If a given rotation matrix is not normalized, the resulting quaternion will contain scaling information.
See also
- PySide6.QtGui.QQuaternion.getAxes(xAxis, yAxis, zAxis)¶
- Parameters
xAxis –
PySide6.QtGui.QVector3DyAxis –
PySide6.QtGui.QVector3DzAxis –
PySide6.QtGui.QVector3D
Returns the 3 orthonormal axes (xAxis, yAxis, zAxis) defining the quaternion.
See also
- PySide6.QtGui.QQuaternion.inverted()¶
- Return type
Returns the inverse of this quaternion. If this quaternion is null, then a null quaternion is returned.
- PySide6.QtGui.QQuaternion.isIdentity()¶
- Return type
bool
Returns true if the x, y, and z components of this quaternion are set to 0.0, and the scalar component is set to 1.0; otherwise returns false.
- PySide6.QtGui.QQuaternion.isNull()¶
- Return type
bool
Returns true if the x, y, z, and scalar components of this quaternion are set to 0.0; otherwise returns false.
- PySide6.QtGui.QQuaternion.length()¶
- Return type
float
Returns the length of the quaternion. This is also called the “norm”.
See also
- PySide6.QtGui.QQuaternion.lengthSquared()¶
- Return type
float
Returns the squared length of the quaternion.
Note
Though cheap to compute, this is susceptible to overflow and underflow that length() avoids in many cases.
See also
- static PySide6.QtGui.QQuaternion.nlerp(q1, q2, t)¶
- Parameters
t – float
- Return type
Interpolates along the shortest linear path between the rotational positions q1 and q2. The value t should be between 0 and 1, indicating the distance to travel between q1 and q2. The result will be normalized() .
If t is less than or equal to 0, then q1 will be returned. If t is greater than or equal to 1, then q2 will be returned.
The function is typically faster than slerp() and will give approximate results to spherical interpolation that are good enough for some applications.
See also
- PySide6.QtGui.QQuaternion.normalize()¶
Normalizes the current quaternion in place. Nothing happens if this is a null quaternion or the length of the quaternion is very close to 1.
See also
- PySide6.QtGui.QQuaternion.normalized()¶
- Return type
Returns the normalized unit form of this quaternion.
If this quaternion is null, then a null quaternion is returned. If the length of the quaternion is very close to 1, then the quaternion will be returned as-is. Otherwise the normalized form of the quaternion of length 1 will be returned.
See also
- PySide6.QtGui.QQuaternion.__ne__(q2)¶
- Parameters
- Return type
bool
- PySide6.QtGui.QQuaternion.__mul__(q2)¶
- Parameters
- Return type
- PySide6.QtGui.QQuaternion.__mul__(factor)
- Parameters
factor – float
- Return type
- PySide6.QtGui.QQuaternion.__mul__(factor)
- Parameters
factor – float
- Return type
- PySide6.QtGui.QQuaternion.__imul__(quaternion)¶
- Parameters
quaternion –
PySide6.QtGui.QQuaternion- Return type
Multiplies this quaternion by quaternion and returns a reference to this quaternion.
- PySide6.QtGui.QQuaternion.__imul__(factor)
- Parameters
factor – float
- Return type
Multiplies this quaternion’s components by the given factor, and returns a reference to this quaternion.
See also
operator/=()
- PySide6.QtGui.QQuaternion.__add__(q2)¶
- Parameters
- Return type
- PySide6.QtGui.QQuaternion.__iadd__(quaternion)¶
- Parameters
quaternion –
PySide6.QtGui.QQuaternion- Return type
Adds the given quaternion to this quaternion and returns a reference to this quaternion.
See also
operator-=()
- PySide6.QtGui.QQuaternion.__sub__()¶
- Return type
- PySide6.QtGui.QQuaternion.__sub__(q2)
- Parameters
- Return type
This is an overloaded function.
Returns a QQuaternion object that is formed by changing the sign of all three components of the given quaternion.
Equivalent to QQuaternion(0,0,0,0) - quaternion.
- PySide6.QtGui.QQuaternion.__isub__(quaternion)¶
- Parameters
quaternion –
PySide6.QtGui.QQuaternion- Return type
Subtracts the given quaternion from this quaternion and returns a reference to this quaternion.
See also
operator+=()
- PySide6.QtGui.QQuaternion.__div__(divisor)¶
- Parameters
divisor – float
- Return type
- PySide6.QtGui.QQuaternion.__idiv__(divisor)¶
- Parameters
divisor – float
- Return type
Divides this quaternion’s components by the given divisor, and returns a reference to this quaternion.
See also
operator*=()
- PySide6.QtGui.QQuaternion.__eq__(q2)¶
- Parameters
- Return type
bool
- PySide6.QtGui.QQuaternion.rotatedVector(vector)¶
- Parameters
vector –
PySide6.QtGui.QVector3D- Return type
Rotates vector with this quaternion to produce a new vector in 3D space. The following code:
result = q.rotatedVector(vector)
is equivalent to the following:
result = (q * QQuaternion(0, vector) * q.conjugated()).vector()
- static PySide6.QtGui.QQuaternion.rotationTo(from, to)¶
- Parameters
from –
PySide6.QtGui.QVector3D
- Return type
Returns the shortest arc quaternion to rotate from the direction described by the vector from to the direction described by the vector to.
See also
- PySide6.QtGui.QQuaternion.scalar()¶
- Return type
float
Returns the scalar component of this quaternion.
See also
- PySide6.QtGui.QQuaternion.setScalar(scalar)¶
- Parameters
scalar – float
Sets the scalar component of this quaternion to scalar.
- PySide6.QtGui.QQuaternion.setVector(vector)¶
- Parameters
vector –
PySide6.QtGui.QVector3D
Sets the vector component of this quaternion to vector.
See also
- PySide6.QtGui.QQuaternion.setVector(x, y, z)
- Parameters
x – float
y – float
z – float
Sets the vector component of this quaternion to (x, y, z).
See also
- PySide6.QtGui.QQuaternion.setX(x)¶
- Parameters
x – float
Sets the x coordinate of this quaternion’s vector to the given x coordinate.
See also
- PySide6.QtGui.QQuaternion.setY(y)¶
- Parameters
y – float
Sets the y coordinate of this quaternion’s vector to the given y coordinate.
See also
- PySide6.QtGui.QQuaternion.setZ(z)¶
- Parameters
z – float
Sets the z coordinate of this quaternion’s vector to the given z coordinate.
See also
- static PySide6.QtGui.QQuaternion.slerp(q1, q2, t)¶
- Parameters
t – float
- Return type
Interpolates along the shortest spherical path between the rotational positions q1 and q2. The value t should be between 0 and 1, indicating the spherical distance to travel between q1 and q2.
If t is less than or equal to 0, then q1 will be returned. If t is greater than or equal to 1, then q2 will be returned.
See also
- PySide6.QtGui.QQuaternion.toEulerAngles()¶
- Return type
This is an overloaded function.
Calculates roll, pitch, and yaw Euler angles (in degrees) that corresponds to this quaternion.
See also
- PySide6.QtGui.QQuaternion.toRotationMatrix()¶
- Return type
Creates a rotation matrix that corresponds to this quaternion.
Note
If this quaternion is not normalized, the resulting rotation matrix will contain scaling information.
See also
- PySide6.QtGui.QQuaternion.toVector4D()¶
- Return type
Returns this quaternion as a 4D vector.
- PySide6.QtGui.QQuaternion.vector()¶
- Return type
Returns the vector component of this quaternion.
See also
- PySide6.QtGui.QQuaternion.x()¶
- Return type
float
Returns the x coordinate of this quaternion’s vector.
- PySide6.QtGui.QQuaternion.y()¶
- Return type
float
Returns the y coordinate of this quaternion’s vector.
- PySide6.QtGui.QQuaternion.z()¶
- Return type
float
Returns the z coordinate of this quaternion’s vector.
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