def getMat3(self):
"""Convert to mat3 by discarding 4th row and column.
"""
m11,m12,m13,m14,m21,m22,m23,m24,m31,m32,m33,m34,m41,m42,m43,m44 = self.mlist
return _mat3(m11,m12,m13,
m21,m22,m23,
m31,m32,m33)
def _submat(self, i, j):
M = _mat3()
for k in xrange(3):
for l in xrange(3):
t = (k, l)
if k >= i:
t = (k + 1, t[1])
if l >= j:
t = (t[0], l + 1)
M[k, l] = self[t]
return M
def _submat(self, i,j):
M=_mat3()
for k in range(3):
for l in range(3):
t=(k,l)
if k>=i:
t=(k+1,t[1])
if l>=j:
t=(t[0],l+1)
M[k,l] = self[t]
return M
def toMat3(self):
"""Return rotation matrix as mat3."""
x, y, z, w = self.x, self.y, self.z, self.w
xx = 2.0 * x * x
yy = 2.0 * y * y
zz = 2.0 * z * z
xy = 2.0 * x * y
zw = 2.0 * z * w
xz = 2.0 * x * z
yw = 2.0 * y * w
yz = 2.0 * y * z
xw = 2.0 * x * w
return _mat3(1.0 - yy - zz, xy - zw, xz + yw, xy + zw, 1.0 - xx - zz,
yz - xw, xz - yw, yz + xw, 1.0 - xx - yy)
def toMat3(self):
"""Return rotation matrix as mat3."""
x,y,z,w = self.x, self.y, self.z, self.w
xx = 2.0*x*x
yy = 2.0*y*y
zz = 2.0*z*z
xy = 2.0*x*y
zw = 2.0*z*w
xz = 2.0*x*z
yw = 2.0*y*w
yz = 2.0*y*z
xw = 2.0*x*w
return _mat3(1.0-yy-zz, xy-zw, xz+yw,
xy+zw, 1.0-xx-zz, yz-xw,
xz-yw, yz+xw, 1.0-xx-yy)
def getMat3(self):
"""Convert to mat3 by discarding 4th row and column.
"""
m11, m12, m13, m14, m21, m22, m23, m24, m31, m32, m33, m34, m41, m42, m43, m44 = self.mlist
return _mat3(m11, m12, m13, m21, m22, m23, m31, m32, m33)
