2. 查找或实现一个将四元数转换为欧拉角的Python函数 在Python中,我们可以使用numpy库来实现这一转换。以下是一个示例函数,它将四元数转换为欧拉角: python import numpy as np def quaternion_to_euler(quaternion): # 确保四元数是单位四元数 q0, q1, q2, q3 = quaternion / np.linalg.norm(quaternion)...
```python import math def quaternion_to_euler(q): #计算旋转矩阵的元素 sinr_cosp = 2 * (q.w * q.x + q.y * q.z) cosr_cosp = 1 - 2 * (q.x**2 + q.y**2) roll = math.atan2(sinr_cosp, cosr_cosp) sinp = 2 * (q.w * q.y - q.z * q.x) if abs(sinp) >=...
pip install numpy-quaternion 安装完成后,就可以在Python脚本中导入并使用它了。 基础用法 创建四元数 首先,来看看如何创建一个四元数。四元数由一个实部和三个虚部组成,可以通过多种方式创建: importnumpyasnpfromnumpy_quaternionimportquaternion# 从欧拉角创建四元数euler_angles=np.array([0.1,0.2,0.3])q1=qu...
一、简介moble/quaternion: Add built-in support for quaternions to numpy (github.com)这个库主要是在Numpy的基础上增加一个 quaternion的类型,不仅实现了四元数相关操作的numpy实现,同时也将numpy的很多用法…
fromcommon.utils.mcmathimportQuaternion newQuaternion=Quaternion.Euler(30,15,45)# 创建一个先围绕z轴旋转45°、再围绕x轴旋转30°、最后围绕y轴旋转45°的旋转 #Dot 描述 两个旋转的点积。 点积是一个浮点值,它等于两个旋转对应分量之积求和。
Abstract. The quaternions are members of a noncommutative division algebra first invented by William Rowan Hamilton. The idea for quaternions occurred to him while he was walking along the Royal Canna OpenCascade Quaternion Euler angles Rotation ...
Quaternions are faster, more accurate, basically free of singularities, more intuitive, and generally easier to understand. You can work entirely without Euler angles (I certainly do). You absolutely never need them. But if you really can't give them up, they are mildly supported....
I just realized that you can read the source code of the BVH importer of Blender, if you have confirmed that your code is right, there is another thing you may forget to setup, you need to setup the rotation mode for each joint from 'Quaternion(WXYZ)' to 'ZXY Euler’ in pose mode...
Parameters: rot - MEulerRotation Returns: Reference to self. Description: Set the value of this quaternion to be equivalent to the rotation rot. Signature: setValue(mat) Parameters: mat - MMatrix Returns: Reference to self. Description: Set the value of this quaternion to be equiv...
Unity:Quaternion(四元数) (一)四元数理解四元数左乘向量,表示将该向量按照四元数表示的角度旋转。 例如:Vector3point = new Vector3(0,0,10... *=Quaternion.Euler(0,1,0); —可使物体沿自身坐标Y轴旋转 this.transform.Rotate(Vector3eulerAngles); —内部就是使用四元数相乘实现 ...