transformations.py 文件源码

def __init__(self, initial=None):
        """Initialize virtual trackball control.

        initial : quaternion or rotation matrix

        """
        self._axis = None
        self._axes = None
        self._radius = 1.0
        self._center = [0.0, 0.0]
        self._vdown = numpy.array([0.0, 0.0, 1.0])
        self._constrain = False
        if initial is None:
            self._qdown = numpy.array([1.0, 0.0, 0.0, 0.0])
        else:
            initial = numpy.array(initial, dtype=numpy.float64)
            if initial.shape == (4, 4):
                self._qdown = quaternion_from_matrix(initial)
            elif initial.shape == (4, ):
                initial /= vector_norm(initial)
                self._qdown = initial
            else:
                raise ValueError("initial not a quaternion or matrix")
        self._qnow = self._qpre = self._qdown