QQuaternion¶

The QQuaternion class represents a quaternion consisting of a vector and scalar. More…

New in version 4.6.

Synopsis¶

Functions¶

def __add__ (, q2)
def __div__ (, divisor)
def __eq__ (, q2)
def __iadd__ (quaternion)
def __idiv__ (divisor)
def __imul__ (factor)
def __imul__ (quaternion)
def __isub__ (quaternion)
def __mul__ (, factor)
def __mul__ (, q2)
def __mul__ (factor)
def __ne__ (, q2)
def __reduce__ ()
def __repr__ ()
def __sub__ ()
def __sub__ (, q2)
def conjugate ()
def conjugated ()
def getAxes (xAxis, yAxis, zAxis)
def inverted ()
def isIdentity ()
def isNull ()
def length ()
def lengthSquared ()
def normalize ()
def normalized ()
def rotatedVector (vector)
def scalar ()
def setScalar (scalar)
def setVector (vector)
def setVector (x, y, z)
def setX (x)
def setY (y)
def setZ (z)
def toEulerAngles ()
def toRotationMatrix ()
def toVector4D ()
def vector ()
def x ()
def y ()
def z ()

Static functions¶

def dotProduct (q1, q2)
def fromAxes (xAxis, yAxis, zAxis)
def fromAxisAndAngle (axis, angle)
def fromAxisAndAngle (x, y, z, angle)
def fromDirection (direction, up)
def fromEulerAngles (eulerAngles)
def fromEulerAngles (pitch, yaw, roll)
def fromRotationMatrix (rot3x3)
def nlerp (q1, q2, t)
def rotationTo (from, to)
def slerp (q1, q2, t)

Detailed Description¶

Quaternions are used to represent rotations in 3D space, and consist of a 3D rotation axis specified by the x, y, and z coordinates, and a scalar representing the rotation angle.

class PySide2.QtGui.QQuaternion¶

PySide2.QtGui.QQuaternion(vector)

PySide2.QtGui.QQuaternion(scalar, vector)

PySide2.QtGui.QQuaternion(scalar, xpos, ypos, zpos)

param ypos:

float

param scalar:

float

param zpos:

float

param vector:

PySide2.QtGui.QVector4D

param xpos:

float

Constructs an identity quaternion (1, 0, 0, 0), i.e. with the vector (0, 0, 0) and scalar 1.

Constructs a quaternion vector from the specified vector and scalar .

See also

vector() scalar()

Constructs a quaternion with the vector (xpos , ypos , zpos ) and scalar .

PySide2.QtGui.QQuaternion.__reduce__()¶

Return type:: object

PySide2.QtGui.QQuaternion.__repr__()¶

Return type:: object

PySide2.QtGui.QQuaternion.conjugate()¶

Return type:: PySide2.QtGui.QQuaternion

Note

This function is deprecated.

Use conjugated() instead.

PySide2.QtGui.QQuaternion.conjugated()¶

Return type:: PySide2.QtGui.QQuaternion

Returns the conjugate of this quaternion, which is (-x, -y, -z, scalar).

static PySide2.QtGui.QQuaternion.dotProduct(q1, q2)¶

Parameters:

q1 – PySide2.QtGui.QQuaternion
q2 – PySide2.QtGui.QQuaternion

Return type:

float

Returns the dot product of q1 and q2 .

See also

length()

static PySide2.QtGui.QQuaternion.fromAxes(xAxis, yAxis, zAxis)¶

Parameters:

Return type:

PySide2.QtGui.QQuaternion

Constructs the quaternion using 3 axes (xAxis , yAxis , zAxis ).

Note

The axes are assumed to be orthonormal.

See also

getAxes() fromRotationMatrix()

static PySide2.QtGui.QQuaternion.fromAxisAndAngle(axis, angle)¶

Parameters:

axis – PySide2.QtGui.QVector3D
angle – float

Return type:

PySide2.QtGui.QQuaternion

Creates a normalized quaternion that corresponds to rotating through angle degrees about the specified 3D axis .

See also

getAxisAndAngle()

static PySide2.QtGui.QQuaternion.fromAxisAndAngle(x, y, z, angle)

Parameters:

x – float
y – float
z – float
angle – float

Return type:

PySide2.QtGui.QQuaternion

Creates a normalized quaternion that corresponds to rotating through angle degrees about the 3D axis (x , y , z ).

See also

getAxisAndAngle()

static PySide2.QtGui.QQuaternion.fromDirection(direction, up)¶

Parameters:

direction – PySide2.QtGui.QVector3D
up – PySide2.QtGui.QVector3D

Return type:

PySide2.QtGui.QQuaternion

Constructs the quaternion using specified forward direction direction and upward direction up . If the upward direction was not specified or the forward and upward vectors are collinear, a new orthonormal upward direction will be generated.

See also

fromAxes() rotationTo()

static PySide2.QtGui.QQuaternion.fromEulerAngles(eulerAngles)¶

Parameters:: eulerAngles – PySide2.QtGui.QVector3D
Return type:: PySide2.QtGui.QQuaternion

This is an overloaded function.

Creates a quaternion that corresponds to a rotation of eulerAngles : eulerAngles. z() degrees around the z axis, eulerAngles. x() degrees around the x axis, and eulerAngles. y() degrees around the y axis (in that order).

See also

toEulerAngles()

static PySide2.QtGui.QQuaternion.fromEulerAngles(pitch, yaw, roll)

Parameters:

pitch – float
yaw – float
roll – float

Return type:

PySide2.QtGui.QQuaternion

Creates a quaternion that corresponds to a rotation of roll degrees around the z axis, pitch degrees around the x axis, and yaw degrees around the y axis (in that order).

See also

getEulerAngles()

static PySide2.QtGui.QQuaternion.fromRotationMatrix(rot3x3)¶

Parameters:: rot3x3 – PySide2.QtGui.QMatrix3x3
Return type:: PySide2.QtGui.QQuaternion

Creates a quaternion that corresponds to a rotation matrix rot3x3 .

Note

If a given rotation matrix is not normalized, the resulting quaternion will contain scaling information.

See also

toRotationMatrix() fromAxes()

PySide2.QtGui.QQuaternion.getAxes(xAxis, yAxis, zAxis)¶

Parameters:

Returns the 3 orthonormal axes (xAxis , yAxis , zAxis ) defining the quaternion.

See also

fromAxes() toRotationMatrix()

PySide2.QtGui.QQuaternion.inverted()¶

Return type:: PySide2.QtGui.QQuaternion

Returns the inverse of this quaternion. If this quaternion is null, then a null quaternion is returned.

See also

isNull() length()

PySide2.QtGui.QQuaternion.isIdentity()¶

Return type:: bool

Returns true if the x, y, and z components of this quaternion are set to 0.0, and the scalar component is set to 1.0; otherwise returns false .

PySide2.QtGui.QQuaternion.isNull()¶

Return type:: bool

Returns true if the x, y, z, and scalar components of this quaternion are set to 0.0; otherwise returns false .

PySide2.QtGui.QQuaternion.length()¶

Return type:: float

Returns the length of the quaternion. This is also called the “norm”.

PySide2.QtGui.QQuaternion.lengthSquared()¶

Return type:: float

Returns the squared length of the quaternion.

See also

length() dotProduct()

static PySide2.QtGui.QQuaternion.nlerp(q1, q2, t)¶

Parameters:

q1 – PySide2.QtGui.QQuaternion
q2 – PySide2.QtGui.QQuaternion
t – float

Return type:

PySide2.QtGui.QQuaternion

Interpolates along the shortest linear path between the rotational positions q1 and q2 . The value t should be between 0 and 1, indicating the distance to travel between q1 and q2 . The result will be normalized() .

If t is less than or equal to 0, then q1 will be returned. If t is greater than or equal to 1, then q2 will be returned.

The function is typically faster than slerp() and will give approximate results to spherical interpolation that are good enough for some applications.

See also

slerp()

PySide2.QtGui.QQuaternion.normalize()¶: Normalizes the current quaternion in place. Nothing happens if this is a null quaternion or the length of the quaternion is very close to 1.

See also

length() normalized()

PySide2.QtGui.QQuaternion.normalized()¶

Return type:: PySide2.QtGui.QQuaternion

Returns the normalized unit form of this quaternion.

If this quaternion is null, then a null quaternion is returned. If the length of the quaternion is very close to 1, then the quaternion will be returned as-is. Otherwise the normalized form of the quaternion of length 1 will be returned.

See also

normalize() length() dotProduct()

PySide2.QtGui.QQuaternion.__ne__(q2)¶

Parameters:: q2 – PySide2.QtGui.QQuaternion
Return type:: bool

PySide2.QtGui.QQuaternion.__mul__(q2)¶

Parameters:: q2 – PySide2.QtGui.QQuaternion
Return type:: PySide2.QtGui.QQuaternion

PySide2.QtGui.QQuaternion.__mul__(factor)

Parameters:: factor – float
Return type:: PySide2.QtGui.QQuaternion

PySide2.QtGui.QQuaternion.__mul__(factor)

Parameters:: factor – float
Return type:: PySide2.QtGui.QQuaternion

PySide2.QtGui.QQuaternion.__imul__(quaternion)¶

Parameters:: quaternion – PySide2.QtGui.QQuaternion
Return type:: PySide2.QtGui.QQuaternion

PySide2.QtGui.QQuaternion.__imul__(factor)

Parameters:: factor – float
Return type:: PySide2.QtGui.QQuaternion

Multiplies this quaternion’s components by the given factor , and returns a reference to this quaternion.

See also

operator/=()

PySide2.QtGui.QQuaternion.__add__(q2)¶

Parameters:: q2 – PySide2.QtGui.QQuaternion
Return type:: PySide2.QtGui.QQuaternion

PySide2.QtGui.QQuaternion.__iadd__(quaternion)¶

Parameters:: quaternion – PySide2.QtGui.QQuaternion
Return type:: PySide2.QtGui.QQuaternion

Adds the given quaternion to this quaternion and returns a reference to this quaternion.

See also

operator-=()

PySide2.QtGui.QQuaternion.__sub__()¶

Return type:: PySide2.QtGui.QQuaternion

PySide2.QtGui.QQuaternion.__sub__(q2)

Parameters:: q2 – PySide2.QtGui.QQuaternion
Return type:: PySide2.QtGui.QQuaternion

PySide2.QtGui.QQuaternion.__isub__(quaternion)¶

Parameters:: quaternion – PySide2.QtGui.QQuaternion
Return type:: PySide2.QtGui.QQuaternion

Subtracts the given quaternion from this quaternion and returns a reference to this quaternion.

See also

operator+=()

PySide2.QtGui.QQuaternion.__div__(divisor)¶

Parameters:: divisor – float
Return type:: PySide2.QtGui.QQuaternion

PySide2.QtGui.QQuaternion.__idiv__(divisor)¶

Parameters:: divisor – float
Return type:: PySide2.QtGui.QQuaternion

Divides this quaternion’s components by the given divisor , and returns a reference to this quaternion.

See also

operator*=()

PySide2.QtGui.QQuaternion.__eq__(q2)¶

Parameters:: q2 – PySide2.QtGui.QQuaternion
Return type:: bool

PySide2.QtGui.QQuaternion.rotatedVector(vector)¶

Parameters:: vector – PySide2.QtGui.QVector3D
Return type:: PySide2.QtGui.QVector3D

Rotates vector with this quaternion to produce a new vector in 3D space. The following code:

QVector3D result = q.rotatedVector(vector);

is equivalent to the following:

QVector3D result = (q * QQuaternion(0, vector) * q.conjugated()).vector();

static PySide2.QtGui.QQuaternion.rotationTo(from, to)¶

Parameters:

from – PySide2.QtGui.QVector3D
to – PySide2.QtGui.QVector3D

Return type:

PySide2.QtGui.QQuaternion

Returns the shortest arc quaternion to rotate from the direction described by the vector from to the direction described by the vector to .

See also

fromDirection()

PySide2.QtGui.QQuaternion.scalar()¶

Return type:: float

Returns the scalar component of this quaternion.

See also

setScalar() x() y() z()

PySide2.QtGui.QQuaternion.setScalar(scalar)¶

Parameters:: scalar – float

Sets the scalar component of this quaternion to scalar .

See also

scalar() setX() setY() setZ()

PySide2.QtGui.QQuaternion.setVector(vector)¶

Parameters:: vector – PySide2.QtGui.QVector3D

Sets the vector component of this quaternion to vector .

See also

vector() setScalar()

PySide2.QtGui.QQuaternion.setVector(x, y, z)

Parameters:

x – float
y – float
z – float

Sets the vector component of this quaternion to (x , y , z ).

See also

vector() setScalar()

PySide2.QtGui.QQuaternion.setX(x)¶

Parameters:: x – float

Sets the x coordinate of this quaternion’s vector to the given x coordinate.

See also

x() setY() setZ() setScalar()

PySide2.QtGui.QQuaternion.setY(y)¶

Parameters:: y – float

Sets the y coordinate of this quaternion’s vector to the given y coordinate.

See also

y() setX() setZ() setScalar()

PySide2.QtGui.QQuaternion.setZ(z)¶

Parameters:: z – float

Sets the z coordinate of this quaternion’s vector to the given z coordinate.

See also

z() setX() setY() setScalar()

static PySide2.QtGui.QQuaternion.slerp(q1, q2, t)¶

Parameters:

q1 – PySide2.QtGui.QQuaternion
q2 – PySide2.QtGui.QQuaternion
t – float

Return type:

PySide2.QtGui.QQuaternion

Interpolates along the shortest spherical path between the rotational positions q1 and q2 . The value t should be between 0 and 1, indicating the spherical distance to travel between q1 and q2 .

If t is less than or equal to 0, then q1 will be returned. If t is greater than or equal to 1, then q2 will be returned.

See also

nlerp()

PySide2.QtGui.QQuaternion.toEulerAngles()¶