Optimisation problem

[Simon Wittber (Maptek)]

I have created a quaternion class which I am using for rotations in
OpenGL.
Usage goes something like this:

q = Quaternion(zRot, 0.0, 0.0, 1.0)
glMultMatrixf(q.matrix)

Does anyone have any idea how I can optimise this code? It is going to
be used in a very tight rendering loop. I would prefer to keep all the
code in Python, and avoid writing any external modules.

class Quaternion:
	def __init__(self, degree, x, y, z):
		self.matrix = range(16)
		
		angle = (degree / 180.0)  *
3.1415926535897932384626433832795
		result = math.sin(angle / 2.0)

		self.w = math.cos(angle / 2.0)
		self.x = x * result
		self.y = y * result
		self.z = z * result
		self.__createMatrix()

	def __createMatrix(self):
		self.matrix[0] = 1.0 - 2.0 * ( self.y * self.y + self.z
* self.z )
		self.matrix[1] = 2.0 * ( self.x * self.y - self.w *
self.z )
		self.matrix[2] = 2.0 * ( self.x * self.z + self.w *
self.y )
		self.matrix[3] = 0.0
		
		self.matrix[4] = 2.0 * ( self.x * self.y + self.w *
self.z )
		self.matrix[5] = 1.0 - 2.0 * ( self.x * self.x + self.z
* self.z )
		self.matrix[6] = 2.0 * ( self.y * self.z - self.w *
self.x )
		self.matrix[7] = 0.0
		
		self.matrix[8] = 2.0 * ( self.x * self.z - self.w *
self.y )
		self.matrix[9] = 2.0 * ( self.y * self.z + self.w *
self.x )
		self.matrix[10] = 1.0 - 2.0 * ( self.x * self.x + self.y
* self.y )
		self.matrix[11] = 0.0
		
		self.matrix[12] = 0.0
		self.matrix[13] = 0.0
		self.matrix[14] = 0.0
		self.matrix[15] = 1.0


--
simon . wittber @ perth . maptek . com .au 
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