quaternion_conjugate

gs_nyx.nyx_py_sdk.quaternion_conjugate(q: gs_nyx.nyx_py_sdk.quaternion) → gs_nyx.nyx_py_sdk.quaternion

Return the conjugate of a quaternion (negated imaginary part).

Example

For a unit quaternion, the conjugate is also its inverse, flip the sign of the vector part and the rotation is undone:

import gs_nyx.nyx_py_sdk as nps

# 90° rotation around +Z.
q = nps.quaternion()
q.w, q.x, q.y, q.z = 0.70710678, 0.0, 0.0, 0.70710678

q_inv = nps.quaternion_conjugate(q)
# q_inv.w, q_inv.x, q_inv.y, q_inv.z == (0.70710678, -0.0, -0.0, -0.70710678)

# Composing a unit quaternion with its conjugate yields identity.
identity = nps.quaternion_mul(q, q_inv)
# identity.w, identity.x, identity.y, identity.z == (1.0, 0.0, 0.0, 0.0)

Note

For non-unit quaternions, quaternion_conjugate is not the inverse, use it only when you’ve already normalised.