python 横坐标旋转_球坐标/python实现中的旋转问题

正如我在评论中提到的，我不认为围绕x，y，和{}旋转是最聪明的解决方案，如果你真的想绕一个任意的轴旋转。所以我用四元数。这实际上使用了x、y、z向量，但是qubit解决方案也使用了所有的sine、atan方法，因此这里没有优势或劣势from mpl_toolkits.mplot3d import Axes3D

import matplotlib.pyplot as plt

import numpy as np

class Quaternion( object ):

"""

Simplified Quaternion class for rotation of normalized vectors only!

"""

def __init__( self, q0, qx, qy, qz ):

"""

Internally uses floats to avoid integer division issues.

@param q0: int or float

@param qx: int or float

@param qy: int or float

@param qz: int or float

"""

self._q0 = float( q0 )

self._qx = float( qx )

self._qy = float( qy )

self._qz = float( qz )

"""

Note if interpreted as rotation q0 -> -q0 doesn't make a difference

q0 = cos( w ) so -cos( w ) = cos( w + pi ) and as the rotation

is by twice the angle it is either 2w or 2w + 2pi, the latter being equivalent to the former.

"""

def conjugate(q):

"""

@return Quaternion

"""

conjq = Quaternion( q._q0, -q._qx, -q._qy, -q._qz )

return conjq

def __mul__(q, r):

"""

Non commutative quaternion multiplication.

@return Quaternion

"""

if isinstance(r, Quaternion):

mq0 = q._q0 * r._q0 - q._qx * r._qx - q._qy * r._qy - q._qz * r._qz

mqx = q._q0 * r._qx + q._qx * r._q0 + q._qy * r._qz - q._qz * r._qy

mqy = q._q0 * r._qy - q._qx * r._qz + q._qy * r._q0 + q._qz * r._qx

mqz = q._q0 * r._qz + q._qx * r._qy - q._qy * r._qx + q._qz * r._q0

out = Quaternion(mq0, mqx, mqy, mqz)

elif isinstance( r, ( int, long, float ) ):

out = r * q

else:

raise TypeError

return out

def __getitem__( q, idx ):

"""

@return float

"""

if idx < 0:

idx = 4 + idx

if idx in [ 0, 1, 2, 3 ]:

out = (q._q0, q._qx, q._qy, q._qz)[idx]

else:

raise IndexError

return out

theta, phi = .4, .89

xA, yA, zA = np.sin( theta ) * np.cos( phi ), np.sin( theta ) * np.sin( phi ), np.cos( theta )

Theta, Phi = .5, 1.13

xB, yB, zB = np.sin( Theta ) * np.cos( Phi ), np.sin( Theta ) * np.sin( Phi ), np.cos( Theta )

qB = Quaternion( 0, xB, yB, zB )

cX = [ xB ]

cY = [ yB ]

cZ = [ zB ]

for alpha in np.linspace( 0.1, 6, 20 ):

qA = Quaternion( np.cos( 0.5 * alpha ), xA * np.sin( 0.5 * alpha ), yA * np.sin( 0.5 * alpha ), zA * np.sin( 0.5 * alpha ) )

qAi = qA.conjugate()

qBr = qA * ( qB * qAi )

cX += [ qBr[1] ]

cY += [ qBr[2] ]

cZ += [ qBr[3] ]

print np.arccos( qBr[3] ), np.arctan2( qBr[2], qBr[1] )

fig = plt.figure()

ax = fig.add_subplot( 111, projection='3d' )

u = np.linspace( 0, 2 * np.pi, 50 )

v = np.linspace( 0, np.pi, 25 )

x = .9 * np.outer( np.cos( u ), np.sin( v ) )

y = .9 * np.outer( np.sin( u ), np.sin( v ) )

z = .9 * np.outer( np.ones( np.size( u ) ), np.cos( v ) )

ax.plot_wireframe( x, y, z, color='g', alpha=.3 )

ax.plot( [ 0, xA ], [ 0, yA ],[ 0, zA ], color='r' )

ax.plot( [ 0, xB ], [ 0, yB ],[ 0, zB ], color='b' )

ax.plot( cX, cY, cZ , color='b' )

plt.show()

提供

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以及