Python-四元數類

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] def __add__(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 __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)