from pyrr import Quaternion, Matrix44, Vector3
import numpy as np

point = Vector3([1.,2.,3.])
orientation = Quaternion()
translation = Vector3()
scale = Vector3([1.,1.,1.])

# translate along X by 1
translation += [1.0, 0.0, 0.0]

# rotate about Y by pi/2
rotation = Quaternion.from_y_rotation(np.pi / 2.0)
orientation = rotation * orientation

# create a matrix
matrix = Matrix44.identity()

# apply our translation
matrix = matrix * Matrix44.from_translation(translation)

# apply our orientation
# we can multiply matricies and quaternions directly!
matrix = matrix * orientation

# apply our scale
matrix = matrix * Matrix44.from_scale(scale)

# transform our point by the matrix
# vectors are transformable by matrices and quaternions directly
point = matrix * point

from pyrr import quaternion, matrix44, vector3
import numpy as np

point = vector3.create(1.,2.,3.)
orientation = quaternion.create()
translation = vector3.create()
scale = vector3.create(1,1,1)

# translate along X by 1
translation += [1.0, 0.0, 0.0]

# rotate about Y by pi/2
rotation = quaternion.create_from_y_rotation(np.pi / 2.0)
orientation = quaternion.cross(rotation, orientation)

# create a matrix
matrix = matrix44.create_identity()

# apply our translation
translation_matrix = matrix44.create_from_translation(translation)
matrix = matrix44.multiply(matrix, translation_matrix)

# apply our orientation
orientation_matrix = matrix44.create_from_quaternion(orientation)
matrix = matrix44.multiply(matrix, orientation_matrix)

# start our matrix off using the scale
scale_matrix = matrix44.create_from_scale(scale)
matrix = matrix44.multiply(matrix, scale_matrix)

# transform our point by the matrix
point = matrix44.apply_to_vector(matrix, point)

from pyrr import Quaternion, Matrix33, Matrix44, Vector3, Vector4

v3 = Vector3([1.,0.,0.])
v4 = Vector4.from_vector3(v3, w=1.0)
v3, w = Vector3.from_vector4(v4)

m44 = Matrix44()
q = Quaternion(m44)
m33 = Matrix33(q)

m33 = Matrix44().matrix33
m44 = Matrix33().matrix44
q = Matrix44().quaternion
q = Matrix33().quaternion

m33 = Quaternion().matrix33
m44 = Quaternion().matrix44

from pyrr import Quaternion, Matrix44, Matrix33, Vector3, Vector4
import numpy as np

# matrix multiplication
m = Matrix44() * Matrix33()
m = Matrix44() * Quaternion()
m = Matrix33() * Quaternion()

# matrix inverse
m = ~Matrix44.from_x_rotation(np.pi)

# quaternion multiplication
q = Quaternion() * Quaternion()
q = Quaternion() * Matrix44()
q = Quaternion() * Matrix33()

# quaternion inverse (conjugate)
q = ~Quaternion()

# quaternion dot product
d = Quaternion() | Quaternion()

# vector operations
v = Vector3() + Vector3()
v = Vector4() - Vector4()

# vector transform
v = Quaternion() * Vector3()
v = Matrix44() * Vector3()
v = Matrix44() * Vector4()
v = Matrix33() * Vector3()

# dot and cross products
dot = Vector3() | Vector3()
cross = Vector3() ^ Vector3()