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pythonrotationquaternions
Johannes
Johannes

Reputation: 118

How to calculate the quaternions of all 24 rotations of a cube?

Similar to these two previous questions (How to calculate all 24 rotations of 3d array?, How to get all 24 rotations of a 3-dimensional array?), I want to find the all the 90 degree rotations of an object. However, I need the quaternions of those rotations.

Upvotes: 1

Views: 381

Answers (1)

Johannes
Johannes

Reputation: 118

import numpy as np
import itertools
from pyquaternion import Quaternion


def rotations():
    for x, y, z in itertools.permutations([0, 1, 2]):
        for sx, sy, sz in itertools.product([-1, 1], repeat=3):
            rotation_matrix = np.zeros((3, 3))
            rotation_matrix[0, x] = sx
            rotation_matrix[1, y] = sy
            rotation_matrix[2, z] = sz
            if np.linalg.det(rotation_matrix) == 1:
                quat = Quaternion(matrix=rotation_matrix)
                yield quat.elements


all_rotations = list(rotations())

print(len(all_rotations))
for x in all_rotations:
    print(x)

Based on this answer by Igor Kołakowski of a similar question.

Upvotes: 1

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