# Python-四元数类

2018/12/12 02:04

class Quaternion:
def __init__(self,array):
self.w=0
self.x=array[0]
self.y=array[1]
self.z=array[2]
self.array=array
def toArray():
return [x,y,z,w]
result=Quaternion(self.array)
result.w+=quaternion.w
result.x+=quaternion.x
result.y+=quaternion.y
result.z+=quaternion.z
return result
def __sub__(self,quaternion):
result=Quaternion(self.array)
result.w-=quaternion.w
result.x-=quaternion.x
result.y-=quaternion.y
result.z-=quaternion.z
return result
def multiplication(self,quaternion):
result=Quaternion(self.array)
result.w=self.w*quaternion.w-self.x*quaternion.x-self.y*quaternion.y-self.z*quaternion.z
result.x=self.w*quaternion.x+self.x*quaternion.w+self.y*quaternion.z-self.z*quaternion.y
result.y=self.w*quaternion.y-self.x*quaternion.z+self.y*quaternion.w+self.z*quaternion.x
result.z=self.w*quaternion.z+self.x*quaternion.y-self.y*quaternion.x+self.z*quaternion.w
return result
def divides(quaternion):
result=Quaternion(self.array)
return result.multiplication(quaternion.inverse());
def mod(self):
return pow((pow(self.x,2)+pow(self.y,2)+pow(self.z,2)+pow(self.w,2)),1/2)
def star(self):
result=Quaternion(self.array)
result.w=self.w
result.x=-self.x
result.y=-self.y
result.z=-self.z
return result
def inverse(self):
result=Quaternion(self.array)
moder=self.mod()
result.w/=moder
result.x/=moder
result.y/=moder
result.z/=moder
return result
def __str__(self):
return str(self.x)+"i "+str(self.y)+"j "+str(self.z)+"k "+str(self.w)


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