fixed shallow copy problem of quaternion.p object

lib/damask/orientation.py

@@ -62,8 +62,7 @@ class Quaternion:
 
     def __copy__(self):
       """Copy"""
-      Q = Quaternion(q=self.q,p=self.p)
+      return self.__class__(q=self.q,p=self.p.copy())
-      return Q
 
     copy = __copy__
 
@@ -91,10 +90,8 @@ class Quaternion:
       # Rowenhorst_etal2015 MSMSE: value of P is selected as -1
       P = -1.0
       try:                                                          # quaternion
-          Q = Quaternion()
+          return self.__class__(q=self.q*other.q - np.dot(self.p,other.p),
-          Q.q = self.q*other.q - np.dot(self.p,other.p)
+                                p=self.q*other.p + other.q*self.p + P * np.cross(self.p,other.p))
-          Q.p = self.q*other.p + other.q*self.p + P * np.cross(self.p,other.p)
-          return Q
       except: pass
       try:                                                         # vector (perform passive rotation)
           return  (self.q*self.q - np.dot(self.p,self.p)) * np.array(other[:3]) \
@@ -102,10 +99,8 @@ class Quaternion:
                  + 2.0*P*self.q                           * np.cross(self.p,other[:3])
       except: pass
       try:                                                        # scalar
-          Q = self.copy()
+          return self.__class__(q=self.q*other,
-          Q.q *= other
+                                p=self.p*other)
-          Q.p *= other
-          return Q
       except:
           return self.copy()
 
@@ -122,9 +117,8 @@ class Quaternion:
     def __div__(self, other):
       """Division"""
       if isinstance(other, (int,float)):
-        q = self.q / other
+        return self.__class__(q=self.q / other,
-        p = self.p / other
+                              p=self.p / other)
-        return self.__class__(q=q,p=p)
       else:
           return NotImplemented
 
@@ -138,9 +132,8 @@ class Quaternion:
     def __add__(self, other):
       """Addition"""
       if isinstance(other, Quaternion):
-        q = self.q + other.q
+        return self.__class__(q=self.q + other.q,
-        p = self.p + other.p
+                              p=self.p + other.p)
-        return self.__class__(q=q,p=p)
       else:
           return NotImplemented
 
@@ -154,12 +147,10 @@ class Quaternion:
     def __sub__(self, other):
       """Subtraction"""
       if isinstance(other, Quaternion):
-          Q = self.copy()
+          return self.__class__(q=self.q - other.q,
-          Q.q -= other.q
+                                p=self.p - other.p)
-          Q.p -= other.p
-          return Q
       else:
-          return self.copy()
+          return NotImplemented
 
     def __isub__(self, other):
       """In-place subtraction"""
@@ -190,7 +181,8 @@ class Quaternion:
 
     def __cmp__(self,other):
       """Linear ordering"""
-      return (self.Rodrigues()>other.Rodrigues()) - (self.Rodrigues()<other.Rodrigues())
+      return (1 if np.linalg.norm(self.asRodrigues()) > np.linalg.norm(other.asRodrigues()) else 0) \
+           - (1 if np.linalg.norm(self.asRodrigues()) < np.linalg.norm(other.asRodrigues()) else 0)
 
     def magnitude_squared(self):
       return self.q ** 2 + np.dot(self.p,self.p)
@@ -203,7 +195,8 @@ class Quaternion:
     def normalize(self):
       d = self.magnitude()
       if d > 0.0:
-          self /= d
+          self.q /= d
+          self.p /= d
       return self
 
     def conjugate(self):
@@ -322,9 +315,11 @@ class Quaternion:
     @classmethod
     def fromRodrigues(cls, rodrigues):
       if not isinstance(rodrigues, np.ndarray): rodrigues = np.array(rodrigues)
-      halfangle = math.atan(np.linalg.norm(rodrigues))
+      norm = np.linalg.norm(rodrigues)
+      halfangle = math.atan(norm)
+      s = math.sin(halfangle)
       c = math.cos(halfangle)
-      return cls(q=c,p=rodrigues/c)
+      return cls(q=c,p=s*rodrigues/norm)
 
 
     @classmethod