def test_create_from_y_rotation(self):
# 180 degree turn around Y axis
q = quaternion.create_from_y_rotation(np.pi)
self.assertTrue(np.allclose(q, [0., 1., 0., 0.]))
# 90 degree rotation around Y axis
q = quaternion.create_from_y_rotation(np.pi / 2.)
self.assertTrue(np.allclose(q, [0., np.sqrt(0.5), 0., np.sqrt(0.5)]))
# -90 degree rotation around Y axis
q = quaternion.create_from_y_rotation(-np.pi / 2.)
def test_create_from_y_rotation(self):
# 180 degree turn around Y axis
q = quaternion.create_from_y_rotation(np.pi)
self.assertTrue(np.allclose(q, [0., 1., 0., 0.]))
# 90 degree rotation around Y axis
q = quaternion.create_from_y_rotation(np.pi / 2.)
self.assertTrue(np.allclose(q, [0., np.sqrt(0.5), 0., np.sqrt(0.5)]))
# -90 degree rotation around Y axis
q = quaternion.create_from_y_rotation(-np.pi / 2.)
def test_procedural_examples(self):
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
# start our matrix off using the scale
matrix = matrix44.create_from_scale(scale)
# apply our orientation
orientation = matrix44.create_from_quaternion(orientation)
matrix = matrix44.multiply(matrix, orientation)
# apply our translation
translation_matrix = matrix44.create_from_translation(translation)
matrix = matrix44.multiply(matrix, translation_matrix)
# transform our point by the matrix
point = matrix44.apply_to_vector(matrix, point)
def test_procedural_examples(self):
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
# start our matrix off using the scale
matrix = matrix44.create_from_scale(scale)
# apply our orientation
orientation = matrix44.create_from_quaternion(orientation)
matrix = matrix44.multiply(matrix, orientation)
# apply our translation
translation_matrix = matrix44.create_from_translation(translation)
matrix = matrix44.multiply(matrix, translation_matrix)
# transform our point by the matrix
point = matrix44.apply_to_vector(matrix, point)
def test_decompose(self):
# define expectations
expected_scale = vector3.create(*[1, 1, 2], dtype='f4')
expected_rotation = quaternion.create_from_y_rotation(np.pi, dtype='f4')
expected_translation = vector3.create(*[10, 0, -5], dtype='f4')
expected_model = np.array([
[-1, 0, 0, 0],
[0, 1, 0, 0],
[0, 0, -2, 0],
[10, 0, -5, 1],
], dtype='f4')
# compose matrix using Pyrr
s = matrix44.create_from_scale(expected_scale, dtype='f4')
r = matrix44.create_from_quaternion(expected_rotation, dtype='f4')
t = matrix44.create_from_translation(expected_translation, dtype='f4')
model = s.dot(r).dot(t)
np.testing.assert_almost_equal(model, expected_model)
self.assertTrue(model.dtype == expected_model.dtype)
# decompose matrix
scale, rotation, translation = matrix44.decompose(model)
np.testing.assert_almost_equal(scale, expected_scale)
self.assertTrue(scale.dtype == expected_scale.dtype)
np.testing.assert_almost_equal(rotation, expected_rotation)
self.assertTrue(rotation.dtype == expected_rotation.dtype)
np.testing.assert_almost_equal(translation, expected_translation)
self.assertTrue(translation.dtype == expected_translation.dtype)
def test_apply_to_vector_y(self):
# 180 degree turn around Y axis
q = quaternion.create_from_y_rotation(np.pi)
self.assertTrue(np.allclose(quaternion.apply_to_vector(q, [1., 0., 0.]), [-1., 0., 0.]))
self.assertTrue(np.allclose(quaternion.apply_to_vector(q, [0., 1., 0.]), [0., 1., 0.]))
self.assertTrue(np.allclose(quaternion.apply_to_vector(q, [0., 0., 1.]), [0., 0.,-1.]))
# 90 degree rotation around Y axis
q = quaternion.create_from_y_rotation(np.pi / 2.)
self.assertTrue(np.allclose(quaternion.apply_to_vector(q, [1., 0., 0.]), [0., 0.,-1.]))
self.assertTrue(np.allclose(quaternion.apply_to_vector(q, [0., 1., 0.]), [0., 1., 0.]))
self.assertTrue(np.allclose(quaternion.apply_to_vector(q, [0., 0., 1.]), [1., 0., 0.]))
# -90 degree rotation around Y axis
q = quaternion.create_from_y_rotation(-np.pi / 2.)
self.assertTrue(np.allclose(quaternion.apply_to_vector(q, [1., 0., 0.]), [0., 0., 1.]))
self.assertTrue(np.allclose(quaternion.apply_to_vector(q, [0., 1., 0.]), [0., 1., 0.]))
self.assertTrue(np.allclose(quaternion.apply_to_vector(q, [0., 0., 1.]), [-1., 0., 0.]))
def test_apply_to_vector_y(self):
# 180 degree turn around Y axis
q = quaternion.create_from_y_rotation(np.pi)
self.assertTrue(np.allclose(quaternion.apply_to_vector(q, [1., 0., 0.]), [-1., 0., 0.]))
self.assertTrue(np.allclose(quaternion.apply_to_vector(q, [0., 1., 0.]), [0., 1., 0.]))
self.assertTrue(np.allclose(quaternion.apply_to_vector(q, [0., 0., 1.]), [0., 0.,-1.]))
# 90 degree rotation around Y axis
q = quaternion.create_from_y_rotation(np.pi / 2.)
self.assertTrue(np.allclose(quaternion.apply_to_vector(q, [1., 0., 0.]), [0., 0.,-1.]))
self.assertTrue(np.allclose(quaternion.apply_to_vector(q, [0., 1., 0.]), [0., 1., 0.]))
self.assertTrue(np.allclose(quaternion.apply_to_vector(q, [0., 0., 1.]), [1., 0., 0.]))
# -90 degree rotation around Y axis
q = quaternion.create_from_y_rotation(-np.pi / 2.)
self.assertTrue(np.allclose(quaternion.apply_to_vector(q, [1., 0., 0.]), [0., 0., 1.]))
self.assertTrue(np.allclose(quaternion.apply_to_vector(q, [0., 1., 0.]), [0., 1., 0.]))
self.assertTrue(np.allclose(quaternion.apply_to_vector(q, [0., 0., 1.]), [-1., 0., 0.]))
def rotated_y():
quat = quaternion.create_from_y_rotation( math.pi )
result = matrix33.create_from_quaternion( quat )
expected = matrix33.create_from_y_rotation( math.pi )
self.assertTrue(
numpy.allclose( result, expected ),
"Matrix33 from quaternion incorrect with PI rotation about Y"
)
def test_apply_to_vector_y(self):
quat = quaternion.create_from_y_rotation(np.pi / 2.)
self.assertTrue(
np.allclose(quaternion.apply_to_vector(quat, [1., 0., 0.]),
[0., 0., 1.]))
self.assertTrue(
np.allclose(quaternion.apply_to_vector(quat, [0., 1., 0.]),
[0., 1., 0.]))
self.assertTrue(
np.allclose(quaternion.apply_to_vector(quat, [0., 0., 1.]),
[-1., 0., 0.]))
def rotate_y(self, radians):
"""Yaw the transform about it's Y axis.
.. note::
Amount > 0 == yaw right.
Amount < 0 == yaw left.
"""
if radians == 0.0:
return
quat = quaternion.create_from_y_rotation(radians)
self.rotate_quaternion(quat)
def rotate_y( self, radians ):
"""Yaw the transform about it's Y axis.
.. note::
Amount > 0 == yaw right.
Amount < 0 == yaw left.
"""
if radians == 0.0:
return
quat = quaternion.create_from_y_rotation( radians )
self.rotate_quaternion( quat )
def test_create_from_quaternion_rotated_y(self):
quat = quaternion.create_from_y_rotation(np.pi)
result = matrix33.create_from_quaternion(quat)
expected = matrix33.create_from_y_rotation(np.pi)
self.assertTrue(np.allclose(result, expected))
def test_create_from_y_rotation(self):
result = quaternion.create_from_y_rotation(np.pi)
np.testing.assert_almost_equal(result, [0.,1.,0.,0.], decimal=3)
self.assertTrue(result.dtype == np.float)
def test_apply_to_vector_y(self):
quat = quaternion.create_from_y_rotation(np.pi / 2.)
self.assertTrue(np.allclose(quaternion.apply_to_vector(quat,[1.,0.,0.]), [0.,0.,1.]))
self.assertTrue(np.allclose(quaternion.apply_to_vector(quat,[0.,1.,0.]), [0.,1.,0.]))
self.assertTrue(np.allclose(quaternion.apply_to_vector(quat,[0.,0.,1.]), [-1.,0.,0.]))
def test_create_from_quaternion_rotated_y(self):
quat = quaternion.create_from_y_rotation(np.pi)
result = matrix33.create_from_quaternion(quat)
expected = matrix33.create_from_y_rotation(np.pi)
self.assertTrue(np.allclose(result, expected))
def test_create_from_y_rotation(self):
result = quaternion.create_from_y_rotation(np.pi)
np.testing.assert_almost_equal(result, [0., 1., 0., 0.], decimal=3)
self.assertTrue(result.dtype == np.float)
