def rotationFromMove(self, vFrom, vTo):
rotAxis = vTo.cross(vFrom)
d = Vec(vFrom - vTo)
t = d.norm() / (2.0 * 1.0)
phi = 2.0 * math.asin(t)
rotQuat = Quaternion()
rotQuat.fromAxisAngle(rotAxis, phi)
rotQuat.normalize()
return rotQuat
def axis(self):
result = Vec([self.quaternion[0], self.quaternion[1], self.quaternion[2]])
sinus = result.norm()
if sinus > 1E-8:
result /= sinus
if math.acos(self.quaternion[3]) <= (math.pi/2.0):
return result
else:
return -result
def axis(self):
result = Vec(
[self.quaternion[0], self.quaternion[1], self.quaternion[2]])
sinus = result.norm()
if sinus > 1E-8:
result /= sinus
if math.acos(self.quaternion[3]) <= (math.pi / 2.0):
return result
else:
return -result