QuaternionUtils

from tdw.quaternion_utils import QuaternionUtils

Helper functions for using quaternions.

Quaternions are always numpy arrays in the following order: [x, y, z, w].

This is the same order as any quaternion found in TDW's output data, e.g. Transforms.get_rotation(index).

Vectors are always numpy arrays in the following order: [x, y, z].

---

Class Variables

Variable	Type	Description	Value
UP	np.ndarray	The global up directional vector.	np.array([0, 1, 0])
FORWARD	np.ndarray	The global forward directional vector.	np.array([0, 0, 1])
RIGHT	np.ndarray	The global right directional vector.	np.array([1, 0, 0])
IDENTITY	np.ndarray	The quaternion identity rotation.	np.array([0, 0, 0, 1])

---

Functions

get_inverse

QuaternionUtils.get_inverse(q)

(Static)

Source: https://referencesource.microsoft.com/#System.Numerics/System/Numerics/Quaternion.cs

Parameter	Type	Default	Description
q	np.ndarray		The quaternion.

Returns: The inverse of the quaternion.

multiply

QuaternionUtils.multiply(q1, q2)

(Static)

Multiply two quaternions.

Source: https://stackoverflow.com/questions/4870393/rotating-coordinate-system-via-a-quaternion

Parameter	Type	Default	Description
q1	np.ndarray		The first quaternion.
q2	np.ndarray		The second quaternion.

Returns: The multiplied quaternion: q1 * q2

get_conjugate

QuaternionUtils.get_conjugate(q)

(Static)

Source: https://stackoverflow.com/questions/4870393/rotating-coordinate-system-via-a-quaternion

Parameter	Type	Default	Description
q	np.ndarray		The quaternion.

Returns: The conjugate of the quaternion: [-x, -y, -z, w]

multiply_by_vector

QuaternionUtils.multiply_by_vector(q, v)

(Static)

Multiply a quaternion by a vector.

Source: https://stackoverflow.com/questions/4870393/rotating-coordinate-system-via-a-quaternion

Parameter	Type	Default	Description
q	np.ndarray		The quaternion.
v	np.ndarray		The vector.

Returns: A directional vector calculated from: q * v

world_to_local_vector

QuaternionUtils.world_to_local_vector(position, origin, rotation)

(Static)

Convert a vector position in absolute world coordinates to relative local coordinates.

Source: https://answers.unity.com/questions/601062/what-inversetransformpoint-does-need-explanation-p.html

Parameter	Type	Default	Description
position	np.ndarray		The position vector in world coordinates.
origin	np.ndarray		The origin vector of the local space in world coordinates.
rotation	np.ndarray		The rotation quaternion of the local coordinate space.

Returns: position in local coordinates.

world_to_local_rotation

QuaternionUtils.world_to_local_rotation(world_rotation, local_coord_rotation)

(Static)

Convert a rotation in absolute world coordinates to relative local coordinates.

Source: https://discussions.unity.com/t/what-is-the-rotation-equivalent-of-inversetransformpoint/45386

Parameter	Type	Default	Description
world_rotation	np.ndarray		The rotation vector in world coordinates that you want to convert to local coordinates.
local_coord_rotation	np.ndarray		The rotation vector of the local coordinates in world coordinates.

Returns: rotation vector of world_rotation in local coordinates.

get_up_direction

QuaternionUtils.get_up_direction(q)

(Static)

Parameter	Type	Default	Description
q	np.ndarray		The rotation as a quaternion.

Returns: A directional vector corresponding to the "up" direction from the quaternion.

euler_angles_to_quaternion

QuaternionUtils.euler_angles_to_quaternion(euler)

(Static)

Convert Euler angles to a quaternion.

Source: https://pastebin.com/riRLRvch

Parameter	Type	Default	Description
euler	np.ndarray		The Euler angles vector.

Returns: The quaternion representation of the Euler angles.

quaternion_to_euler_angles

QuaternionUtils.quaternion_to_euler_angles(quaternion)

(Static)

Convert a quaternion to Euler angles.

Source: https://stackoverflow.com/a/12122899

Parameter	Type	Default	Description
quaternion	np.ndarray		A quaternion as a nump array.

Returns: The Euler angles representation of the quaternion.

get_y_angle

QuaternionUtils.get_y_angle(q1, q2)

(Static)

Source: https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles

Parameter	Type	Default	Description
q1	np.ndarray		The first quaternion.
q2	np.ndarray		The second quaternion.

Returns: The angle between the two quaternions in degrees around the y axis.

is_left_of

QuaternionUtils.is_left_of(origin, target, forward)

(Static)

Parameter	Type	Default	Description
origin	np.ndarray		The origin position.
target	np.ndarray		The target position.
forward	np.ndarray		The forward directional vector.

Returns: True if target is to the left of origin by the forward vector; False if it's to the right.