ó ÉÝ{Tc@sMdZddlTddlZdZdeZedZdd d„ƒYZdS( sB pygl/Quat.py: CCP4MG Molecular Graphics Program Copyright (C) 2001-2005 University of York, CCLRC This library is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License version 3, modified in accordance with the provisions of the license to address the requirements of UK law. You should have received a copy of the modified GNU Lesser General Public License along with this library. If not, copies may be downloaded from http://www.ccp4.ac.uk/ccp4license.php This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. iÿÿÿÿ(t*Ng-DTû! @g€f@i´tQuatcBs’eZdZd„Zdddddd„Zd„Zd„Zd„Zd„Zd „Z d „Z d „Z d „Z d „Z d„Zd„ZRS(s Quaternion class cCs£t|d|d|dd|dƒ}t|d|d|dd|dƒ}t|d|d|dd|dƒ}|j|ƒ|j|ƒ|j|ƒdS(Niii(RtpostMult(tselftxaxistyaxistzaxistdrottrotxtrotytrotz((s6/opt/xtal/ccp4-6.5-linux32/lib/py2/ccp4mg/pygl/Quat.pytrotate_about_axes s (((  iiÿÿÿÿcCs`ddddg|_|dkr7|j|||ƒn|dkr\|j||||ƒndS(sc Constructor, specify wi=0 for build with x,y,z and wi = 1 for x,y,z,angle gð?giiN(tdvaltsettseta(Rtxtytztwitangle((s6/opt/xtal/ccp4-6.5-linux32/lib/py2/ccp4mg/pygl/Quat.pyt__init__(s   cCsddddg|_dS(s) Reset to unit rotation. gð?gN(R (R((s6/opt/xtal/ccp4-6.5-linux32/lib/py2/ccp4mg/pygl/Quat.pytreset5scCs…tdddddd|ƒ}tdddddd|ƒ}tdddddd|ƒ}|j|ƒ|j|ƒ|j|ƒdS(s> Set to given rotations about x,y and z axes. gð?gRiRN(RtsetqR(RRRRtxQtyQtzQ((s6/opt/xtal/ccp4-6.5-linux32/lib/py2/ccp4mg/pygl/Quat.pyR ;s   cCs|j|_dS(s Copy dval from other quaternion. This should be used where we currently have dodginess in MG. N(R (Rtqfrom((s6/opt/xtal/ccp4-6.5-linux32/lib/py2/ccp4mg/pygl/Quat.pyRHscCsÈ|t}t||||||ƒ}|dkr>dGHn||}||}||}t|dƒ|jd<|t|dƒ|jd<|t|dƒ|jd<|t|dƒ|jdszero length in Quat normg@iiiiN(t DEG_TO_RADtsqrttcosR tsin(RRRRRtradius((s6/opt/xtal/ccp4-6.5-linux32/lib/py2/ccp4mg/pygl/Quat.pyRPs      cCs9tƒ}g|_|jj|jƒ|j||ƒdS(s6 Post-multiply by another quaternion. N(RR textendt multAndSet(Rtqttemp((s6/opt/xtal/ccp4-6.5-linux32/lib/py2/ccp4mg/pygl/Quat.pyRds  cCsˆ|jd|jd|jd|jd|jd|jd|jd|jd|jd<|jd|jd|jd|jd|jd|jd|jd|jd|jd<|jd|jd|jd|jd|jd|jd|jd|jd|jd<|jd|jd|jd|jd|jd|jd|jd|jd|jds