util.Quaternion

Constructor

class util.Quaternion(x, y, z, w)

Arguments:

• x –
• y –
• z –
• w – Quaternion should be assumed to only have .x, .y, .z, and .w.

:returns :

a quaternion object

Methods

add(rhs)

Arguments:

• rhs –

Returns:

quaternion sum of the two quaternions

angle()

Returns:The angle of rotation represented by this quaternion.

axis()

Returns:The axis of rotation represented by this quaternion.

clone()

Returns:a copy of this Quaternion.

Make a copy of this quaternion.

dot(rhs)

Arguments:

• rhs –

Returns:

Dot product of the two quaternions

equal(rhs)

param rhs:any type returns:True if rhs is not a quaternion and x,y,z,and w fields

of this and rhs are identical. False otherwise.

rtype:bool

fromLookAt(direction, up)

Arguments:

• direction – Vector that represents direction to look at.
• up – Up direction of the quaternion.

Returns:

A quaternion constructed so that the -z axis (lookat direction) points in the same direction as the direction vector, with the up vector as close as possible to the given up vector.

inverse()

Returns:The inverse of this quaternion

isZero()

Returns:true if the quaternion is (near) zero/identity, i.e. that it represents no rotation, false otherwise

length()

Returns:The length of the quaternion

lengthSquared()

Returns:the length-squared of the quaternion

mul(rhs)

Arguments:

• rhs –

Returns:

The quaternion product of two quaternions

neg()

Returns:Returns the negation of the quaternion

normal()

Returns:The quaternion normal to this quaternion

scale(scalar)

Arguments:

• scalar – by which to scale

Returns:

A quaternion scaled by the scalar parameter

sub(rhs)

Arguments:

• rhs –

Returns:

quaternion difference of the two quaternions

xAxis()

Returns:The x-axis of the quaternion as a Vec3

yAxis()

Returns:The y-axis of the quaternion as a Vec3

zAxis()

Returns:The z-axis of the quaternion as a Vec3

Attributes

identity

identity