如何计算立方体所有 24 次旋转的四元数？

Question

与前两个问题（How to calculate all 24 rotations of 3d array?，How to get all 24 rotations of a 3-dimensional array?）类似，我想找到一个物体的所有 90 度旋转。但是，我需要这些旋转的四元数。

Answer 1

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)

基于this answer by Igor Kołakowski 的类似问题。