def test_from_numpy():
m = np.array([
[-0.1390883, 0.9896649, 0.0348995],
[0.8625845, 0.1037672, 0.4951569],
[0.4864179, 0.0989743, -0.8681024],
])
q = np.array([1, 2, 3, 4])
qm_true = Quat(0.6374259, 0.7264568, 0.204462, -0.1553838)
qq_true = Quat(1, 2, 3, 4)
qm = Quat.from_numpy(m)
qq = Quat.from_numpy(q)
assert qm == qm_true
assert qq == qq_true
def from_mat4_numpy(mat4: np.ndarray):
return Transform(Quat.from_numpy(mat4[:3, :3]), Vec3.from_numpy(mat4[:3, 3]))
def from_quat_vec3_numpy(quatvec3: np.ndarray):
return Transform(Quat.from_numpy(quatvec3[:4]), Vec3.from_numpy(quatvec3[4:]))
