def angleBetweenVectors(vector1: Vector, vector2: Vector) -> float:
dot = vector1.dot(vector2)
denom = vector1.length() * vector2.length()
if denom > 1.e-3:
angle = numpy.arccos(dot / denom)
return 0.0 if numpy.isnan(angle) else angle
return 0.0
def _rotateCamera(self, x, y):
camera = self._scene.getActiveCamera()
if not camera or not camera.isEnabled():
return
self._scene.acquireLock()
dx = math.radians(x * 180.0)
dy = math.radians(y * 180.0)
diff = camera.getPosition() - self._origin
diff_flat = Vector(diff.x, 0.0, diff.z).getNormalized()
try:
new_angle = math.acos(diff_flat.dot(diff.getNormalized())) + dy
except ValueError:
return
m = Matrix()
m.setByRotationAxis(dx, Vector.Unit_Y)
if new_angle < (math.pi / 2 - 0.01):
m.rotateByAxis(dy, Vector.Unit_Y.cross(diff).normalize())
n = diff.multiply(m)
n += self._origin
camera.setPosition(n)
camera.lookAt(self._origin)
self._scene.releaseLock()
def __imul__(self, other):
if type(other) is Quaternion:
v1 = Vector(other.x, other.y, other.z)
v2 = Vector(self.x, self.y, self.z)
w = other.w * self.w - v1.dot(v2)
v = v2 * other.w + v1 * self.w + v2.cross(v1)
self._data[0] = v.x
self._data[1] = v.y
self._data[2] = v.z
self._data[3] = w
elif type(other) is float or type(other) is int:
self._data *= other
else:
raise NotImplementedError()
return self
def __imul__(self, other):
if type(other) is Quaternion:
v1 = Vector(other.x, other.y, other.z)
v2 = Vector(self.x, self.y, self.z)
w = other.w * self.w - v1.dot(v2)
v = v2 * other.w + v1 * self.w + v2.cross(v1)
self._data[0] = v.x
self._data[1] = v.y
self._data[2] = v.z
self._data[3] = w
elif type(other) is float or type(other) is int:
self._data *= other
else:
raise NotImplementedError()
return self
