def cross(self, q2):
''' cross product between quaternions '''
s1 = self.w()
s2 = q2.w()
v1 = vec.V3(self.x(), self.y(), self.z())
v2 = vec.V3(q2.x(), q2.y(), q2.z())
s3 = s1 * s2 - (v1.dot(v2))
v3 = (v2 * s1 + v1 * s2) + v1.cross(v2)
return Q(s3, v3)
def prj(self, point):
if point == vec.V3(0, 0, 0): raise CamExcept("Cam3: point is 0")
V = point - self.From
T = 1 / math.tan(self.view_angle / 2)
div = V.dot(self.t_matrix[2])
if div == 0: CamExcept("Cam3: S div is 0")
S = T / div
Sx = self.Cx + (self.Lx * S * V.dot(self.t_matrix[0]))
Sy = self.Cx + (self.Lx * S * V.dot(self.t_matrix[1]))
return vec.V2(Sx, Sy)
def get_vector(self):
'''get the vector part of the quaternion'''
return vec.V3(self.x(), self.y(), self.z())
