def as_rotation(self):
""" The rotation represented by self, given as an angle around
an vector serving as the Euler axis of rotation.
"""
qs = self.unit().components()
half_theta = acos(qs[0])
if half_theta < EPSILON:
return (0.0,vector(1.0,0.0,0.0))
else:
return (2.0*half_theta,
vector.with_components(qs[1:])/sin(half_theta))
def as_rotation(self):
""" The rotation represented by self, given as an angle around
an vector serving as the Euler axis of rotation.
"""
qs = self.unit().components()
half_theta = acos(qs[0])
if half_theta < EPSILON:
return (0.0,vector(1.0,0.0,0.0))
else:
return (2.0*half_theta,
vector.with_components(qs[1:])/sin(half_theta))
def with_components(cls,qs):
""" Constructs a new quat instance from [q0,q1,q2,q3]. """
return quat(qs[0],vector.with_components(qs[1:]))
def with_components(cls,qs):
""" Constructs a new quat instance from [q0,q1,q2,q3]. """
return quat(qs[0],vector.with_components(qs[1:]))
