def __rmul__(self: _T, other: Quaternion) -> _T:
try:
if isinstance(other, Quaternion):
return self._create(
Vector3D(*rotate_vectors(other, self._translation)),
other * self._rotation,
)
except ValueError:
pass
return NotImplemented
def __init__(
self,
size: Iterable[float],
translation: Iterable[float] = (0, 0, 0),
rotation: Transform3D.RotationType = (1, 0, 0, 0),
*,
transform_matrix: Optional[MatrixType] = None,
) -> None:
self._transform = Transform3D(translation,
rotation,
matrix=transform_matrix)
self._size = Vector3D(*size)
def __init__(
self,
translation: Iterable[float] = (0, 0, 0),
rotation: RotationType = (1, 0, 0, 0),
*,
matrix: Optional[MatrixType] = None,
) -> None:
if matrix is not None:
try:
self._translation = Vector3D(matrix[0][3], matrix[1][3],
matrix[2][3])
self._rotation = from_rotation_matrix(matrix)
return
except (IndexError, TypeError) as error:
raise ValueError(
"The shape of input transform matrix must be 3x4 or 4x4."
) from error
self._translation = Vector3D(*translation)
if isinstance(rotation, Quaternion):
self._rotation = Quaternion(rotation)
else:
self._rotation = Quaternion(*rotation)
def inverse(self: _T) -> _T:
"""Return the inverse of the transform.
Returns:
A :class:`Transform3D` object representing the inverse of this :class:`Transform3D`.
Examples:
>>> transform = Transform3D([1, 2, 3], [0, 1, 0, 0])
>>> transform.inverse()
Transform3D(
(translation): Vector3D(-1.0, 2.0, 3.0),
(rotation): quaternion(0, -1, -0, -0)
)
"""
rotation = self._rotation.inverse()
translation = Vector3D(*rotate_vectors(rotation, -self._translation))
return self._create(translation, rotation)
def set_translation(self, x: float, y: float, z: float) -> None:
"""Set the translation of the transform.
Arguments:
x: The x coordinate of the translation.
y: The y coordinate of the translation.
z: The z coordinate of the translation.
Examples:
>>> transform = Transform3D([1, 1, 1], [1, 0, 0, 0])
>>> transform.set_translation(3, 4, 5)
>>> transform
Transform3D(
(translation): Vector3D(3, 4, 5),
(rotation): quaternion(1, 0, 0, 0)
)
"""
self._translation = Vector3D(x, y, z)