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Public rotation types and convenience constructors.

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QuaternionRotation Objects

@dataclass
class QuaternionRotation()
Unit-quaternion rotation. Each component must be in [-1.0, 1.0] and the quaternion must have unit magnitude (sqrt(qx**2 + qy**2 + qz**2 + qw**2) ≈ 1.0, tolerance 1e-2). These constraints are enforced server-side.

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EulerRotation Objects

@dataclass
class EulerRotation()
Euler-angle rotation (radians), applied as extrinsic X-Y-Z. Each angle must be in [-2.1pi, 2.1pi] (roughly +/-378 degrees). This constraint is enforced server-side.

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MatrixRotation Objects

@dataclass
class MatrixRotation()
3x3 rotation matrix (9 floats, column-major). The 9 values are stored column-by-column:: Given the matrix: | r00 r01 r02 | | r10 r11 r12 | | r20 r21 r22 | Flat order: [r00, r10, r20, r01, r11, r21, r02, r12, r22] — col 0 — — col 1 — — col 2 — The matrix must be a proper rotation matrix: each column must be a unit vector, all column pairs must be orthogonal, and the determinant must equal 1.0. These constraints are enforced server-side.

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identity_rotation

def identity_rotation() -> QuaternionRotation
Return the identity rotation (no rotation).

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rotation_x

def rotation_x(angle: float) -> EulerRotation
Rotation around the x-axis only. Arguments:
  • angle - Rotation angle in radians.

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rotation_y

def rotation_y(angle: float) -> EulerRotation
Rotation around the y-axis only. Arguments:
  • angle - Rotation angle in radians.

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rotation_z

def rotation_z(angle: float) -> EulerRotation
Rotation around the z-axis only. Arguments:
  • angle - Rotation angle in radians.