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https://github.com/KieranWynn/pyquaternion

A fully featured, pythonic library for representing and using quaternions
https://github.com/KieranWynn/pyquaternion

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A fully featured, pythonic library for representing and using quaternions

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README 

        
# pyquaternion



[![GitHub release (latest SemVer)](https://img.shields.io/github/v/release/kieranwynn/pyquaternion?color=green&sort=semver)](https://github.com/KieranWynn/pyquaternion/releases)

[![Build Status](https://travis-ci.org/KieranWynn/pyquaternion.svg?branch=master)](https://travis-ci.org/KieranWynn/pyquaternion)

[![PyPI - Downloads](https://img.shields.io/pypi/dd/pyquaternion)](https://pypi.python.org/pypi/pyquaternion/)



A fully featured, pythonic library for quaternion representation, manipulation, 3D animation and geometry.



Please visit the **[pyquaternion homepage](http://kieranwynn.github.io/pyquaternion/)** for full information and the latest documentation.



**Designed for Python 2.7+ and 3.0+**



![demo](./demo.gif)



> Example: Smooth animation with interpolation between random orientations using the pyquaternion module.



## Quickstart



Install from [PyPI](https://pypi.python.org/pypi/pyquaternion/)



```$ pip install pyquaternion```



Run the following for a basic overview. A copy of this example can be found in [demo.py](./demo/demo.py).



```python

import pyquaternion



# Create a quaternion representing a rotation of +90 degrees about positive y axis.

my_quaternion = pyquaternion.Quaternion(axis=[0, 1, 0], degrees=90)



my_vector = [0, 0, 4]

my_rotated_vector = my_quaternion.rotate(my_vector)



print('\nBasic Rotation')

print('--------------')

print('My Vector: {}'.format(my_vector))

print('Performing rotation of {angle} deg about {axis}'.format(angle=my_quaternion.degrees, axis=my_quaternion.axis))

print('My Rotated Vector: {}'.format(my_rotated_vector))



# Create another quaternion representing no rotation at all

null_quaternion = pyquaternion.Quaternion(axis=[0, 1, 0], angle=0)



print('\nInterpolated Rotation')

print('---------------------')



# The following will create a sequence of 9 intermediate quaternion rotation objects

for q in pyquaternion.Quaternion.intermediates(null_quaternion, my_quaternion, 9, include_endpoints=True):

    my_interpolated_point = q.rotate(my_vector)

    print('My Interpolated Point: {point}\t(after rotation of {angle} deg about {axis})'.format(

        point=my_interpolated_point, angle=round(q.degrees, 4), axis=q.axis

    ))

    

print('Done!')

````



Example output:



```

Basic Rotation

--------------

My Vector: [0, 0, 4]

Performing rotation of 90.0 deg about [ 0.  1.  0.]

My Rotated Vector: [4.0, 0.0, 0.0]



Interpolated Rotation

---------------------

My Interpolated Point: [0.0, 0.0, 4.0]	(after rotation of 0.0 deg about [ 0.  0.  0.])

My Interpolated Point: [0.62573786016092348, 0.0, 3.9507533623805511]	(after rotation of 9.0 deg about [ 0.  1.  0.])

My Interpolated Point: [1.2360679774997898, 0.0, 3.8042260651806146]	(after rotation of 18.0 deg about [ 0.  1.  0.])

My Interpolated Point: [1.8159619989581872, 0.0, 3.5640260967534712]	(after rotation of 27.0 deg about [ 0.  1.  0.])

My Interpolated Point: [2.3511410091698921, 0.0, 3.2360679774997894]	(after rotation of 36.0 deg about [ 0.  1.  0.])

My Interpolated Point: [2.8284271247461903, 0.0, 2.8284271247461898]	(after rotation of 45.0 deg about [ 0.  1.  0.])

My Interpolated Point: [3.2360679774997894, 0.0, 2.3511410091698921]	(after rotation of 54.0 deg about [ 0.  1.  0.])

My Interpolated Point: [3.5640260967534712, 0.0, 1.8159619989581879]	(after rotation of 63.0 deg about [ 0.  1.  0.])

My Interpolated Point: [3.8042260651806146, 0.0, 1.2360679774997898]	(after rotation of 72.0 deg about [ 0.  1.  0.])

My Interpolated Point: [3.9507533623805515, 0.0, 0.62573786016092403]	(after rotation of 81.0 deg about [ 0.  1.  0.])

My Interpolated Point: [4.0, 0.0, 0.0]	(after rotation of 90.0 deg about [ 0.  1.  0.])

Done!

````