lib/quat.rb in gmath3D-0.2.5 vs lib/quat.rb in gmath3D-1.0.0
- old
+ new
@@ -1,170 +1,170 @@
-require 'gmath3D'
-
-module GMath3D
- #
- # Quat represents quaternion.
- #
- class Quat
-public
- attr_accessor :x
- attr_accessor :y
- attr_accessor :z
- attr_accessor :w
-
- # [Input]
- # _x_, _y_, _z_, _w_should be Numeric.
- # [Output]
- # return new instance of Quat.
- def initialize(x=0.0,y=0.0,z=0.0,w=0.0)
- Util3D.check_arg_type(Numeric, x)
- Util3D.check_arg_type(Numeric, y)
- Util3D.check_arg_type(Numeric, z)
- Util3D.check_arg_type(Numeric, w)
- super()
- @x = x
- @y = y
- @z = z
- @w = w
- end
-
- # [Input]
- # _axsi_ should be Vector3 and _angle_ should be Numeric.
- # [Output]
- # return new instance of Quat.
- def self.from_axis(axis, angle)
- Util3D.check_arg_type(Vector3, axis)
- Util3D.check_arg_type(Numeric, angle)
- s = Math.sin(0.5*angle)
- x = s * axis.x
- y = s * axis.y
- z = s * axis.z
- w = Math.cos(0.5*angle)
- return Quat.new(x,y,z,w)
- end
-
- # [Input]
- # _matrix_ should be Matrix which row and column size are 3.
- # [Output]
- # return new instance of Quat.
- def self.from_matrix(mat)
- fourWSquaredMinus1 = mat[0,0] + mat[1,1] + mat[2,2]
- fourXSquaredMinus1 = mat[0,0] - mat[1,1] - mat[2,2]
- fourYSquaredMinus1 = mat[1,1] - mat[0,0] - mat[2,2]
- fourZSquaredMinus1 = mat[2,2] - mat[0,0] - mat[1,1]
-
- biggestIndex = 0
- fourBiggestSquaredMinus1 = fourWSquaredMinus1
- if(fourXSquaredMinus1 > fourBiggestSquaredMinus1)
- fourBiggestSquaredMinus1 = fourXSquaredMinus1
- biggestIndex = 1
- end
- if(fourYSquaredMinus1 > fourBiggestSquaredMinus1)
- fourBiggestSquaredMinus1 = fourYSquaredMinus1
- biggestIndex = 2
- end
- if(fourZSquaredMinus1 > fourBiggestSquaredMinus1)
- fourBiggestSquaredMinus1 = fourZSquaredMinus1
- biggestIndex = 3
- end
-
- biggestVal = Math.sqrt(fourBiggestSquaredMinus1 + 1.0) * 0.5
- multi = 0.25 / biggestVal
-
- case biggestIndex
- when 0
- w = biggestVal
- x = (mat[1,2] - mat[2,1]) *multi
- y = (mat[2,0] - mat[0,2]) *multi
- z = (mat[0,1] - mat[1,0]) *multi
- when 1
- x = biggestVal;
- w = (mat[1,2] - mat[2,1]) *multi
- y = (mat[0,1] + mat[1,0]) *multi
- z = (mat[2,0] + mat[0,2]) *multi
- when 2
- y = biggestVal;
- w = (mat[2,0] - mat[0,2]) *multi
- x = (mat[0,1] + mat[1,0]) *multi
- z = (mat[1,2] + mat[2,1]) *multi
- when 3
- z = biggestVal;
- w = (mat[0,1] - mat[1,0]) *multi
- x = (mat[2,0] + mat[0,2]) *multi
- y = (mat[1,2] + mat[2,1]) *multi
- end
- return Quat.new(x,y,z,w)
- end
-
- def to_element_s
- "[#{@x}, #{@y}, #{@z}, #{@w}]"
- end
-
- def to_s
- "Quat" + to_element_s
- end
-
- # [Input]
- # _rhs_ should be Quat.
- # [Output]
- # return true if rhs equals myself.
- def ==(rhs)
- return false if( !rhs.kind_of?(Quat) )
- return false if(self.x != rhs.x)
- return false if(self.y != rhs.y)
- return false if(self.z != rhs.z)
- return false if(self.w != rhs.w)
- true
- end
-
- # [Output]
- # return conjugated Quat.
- def conjugate
- return Quat.new( -self.x, -self.y, -self.z, self.w)
- end
-
- # [Output]
- # return normalized result as Quat.
- def normalize()
- mag = Math.sqrt(self.x*self.x + self.y*self.y + self.z*self.z)
- return Quat.new(self.x/mag, self.y/mag, self.z/mag, self.w/mag)
- end
-
- # [Input]
- # _rhs_ should be Quat.
- # [Output]
- # return added result as Quat.
- def +(rhs)
- Util3D.check_arg_type(Quat, rhs)
- t1 = Vector3.new(self.x, self.y, self.z)
- t2 = Vector3.new(rhs.x, rhs.y, rhs.z)
- dot = t1.dot(t2)
- t3 = t2.cross(t1)
-
- t1 *= rhs.w
- t2 *= self.w
-
- tf = t1 + t2 + t3
- rtn_w = self.w * rhs.w - dot
-
- return Quat.new(tf.x, tf.y, tf.z, rtn_w)
- end
-
- # [Input]
- # _rsh_ should be Quat.
- # [Output]
- # return (outer products) multiplyed result as Quat.
- def *(rhs)
- Util3D.check_arg_type(Quat, rhs)
-
- pw = self.w; px = self.x; py = self.y; pz = self.z;
- qw = rhs.w ; qx = rhs.x ; qy = rhs.y ; qz = rhs.z;
-
- w = pw * qw - px * qx - py * qy - pz * qz
- x = pw * qx + px * qw + py * qz - pz * qy
- y = pw * qy - px * qz + py * qw + pz * qx
- z = pw * qz + px * qy - py * qx + pz * qw
- return Quat.new( x,y,z,w )
- end
- end
-end
-
+require 'gmath3D'
+
+module GMath3D
+ #
+ # Quat represents quaternion.
+ #
+ class Quat
+public
+ attr_accessor :x
+ attr_accessor :y
+ attr_accessor :z
+ attr_accessor :w
+
+ # [Input]
+ # _x_, _y_, _z_, _w_should be Numeric.
+ # [Output]
+ # return new instance of Quat.
+ def initialize(x=0.0,y=0.0,z=0.0,w=0.0)
+ Util3D.check_arg_type(Numeric, x)
+ Util3D.check_arg_type(Numeric, y)
+ Util3D.check_arg_type(Numeric, z)
+ Util3D.check_arg_type(Numeric, w)
+ super()
+ @x = x
+ @y = y
+ @z = z
+ @w = w
+ end
+
+ # [Input]
+ # _axsi_ should be Vector3 and _angle_ should be Numeric.
+ # [Output]
+ # return new instance of Quat.
+ def self.from_axis(axis, angle)
+ Util3D.check_arg_type(Vector3, axis)
+ Util3D.check_arg_type(Numeric, angle)
+ s = Math.sin(0.5*angle)
+ x = s * axis.x
+ y = s * axis.y
+ z = s * axis.z
+ w = Math.cos(0.5*angle)
+ return Quat.new(x,y,z,w)
+ end
+
+ # [Input]
+ # _matrix_ should be Matrix which row and column size are 3.
+ # [Output]
+ # return new instance of Quat.
+ def self.from_matrix(mat)
+ fourWSquaredMinus1 = mat[0,0] + mat[1,1] + mat[2,2]
+ fourXSquaredMinus1 = mat[0,0] - mat[1,1] - mat[2,2]
+ fourYSquaredMinus1 = mat[1,1] - mat[0,0] - mat[2,2]
+ fourZSquaredMinus1 = mat[2,2] - mat[0,0] - mat[1,1]
+
+ biggestIndex = 0
+ fourBiggestSquaredMinus1 = fourWSquaredMinus1
+ if(fourXSquaredMinus1 > fourBiggestSquaredMinus1)
+ fourBiggestSquaredMinus1 = fourXSquaredMinus1
+ biggestIndex = 1
+ end
+ if(fourYSquaredMinus1 > fourBiggestSquaredMinus1)
+ fourBiggestSquaredMinus1 = fourYSquaredMinus1
+ biggestIndex = 2
+ end
+ if(fourZSquaredMinus1 > fourBiggestSquaredMinus1)
+ fourBiggestSquaredMinus1 = fourZSquaredMinus1
+ biggestIndex = 3
+ end
+
+ biggestVal = Math.sqrt(fourBiggestSquaredMinus1 + 1.0) * 0.5
+ multi = 0.25 / biggestVal
+
+ case biggestIndex
+ when 0
+ w = biggestVal
+ x = (mat[1,2] - mat[2,1]) *multi
+ y = (mat[2,0] - mat[0,2]) *multi
+ z = (mat[0,1] - mat[1,0]) *multi
+ when 1
+ x = biggestVal;
+ w = (mat[1,2] - mat[2,1]) *multi
+ y = (mat[0,1] + mat[1,0]) *multi
+ z = (mat[2,0] + mat[0,2]) *multi
+ when 2
+ y = biggestVal;
+ w = (mat[2,0] - mat[0,2]) *multi
+ x = (mat[0,1] + mat[1,0]) *multi
+ z = (mat[1,2] + mat[2,1]) *multi
+ when 3
+ z = biggestVal;
+ w = (mat[0,1] - mat[1,0]) *multi
+ x = (mat[2,0] + mat[0,2]) *multi
+ y = (mat[1,2] + mat[2,1]) *multi
+ end
+ return Quat.new(x,y,z,w)
+ end
+
+ def to_element_s
+ "[#{@x}, #{@y}, #{@z}, #{@w}]"
+ end
+
+ def to_s
+ "Quat" + to_element_s
+ end
+
+ # [Input]
+ # _rhs_ should be Quat.
+ # [Output]
+ # return true if rhs equals myself.
+ def ==(rhs)
+ return false if( !rhs.kind_of?(Quat) )
+ return false if(self.x != rhs.x)
+ return false if(self.y != rhs.y)
+ return false if(self.z != rhs.z)
+ return false if(self.w != rhs.w)
+ true
+ end
+
+ # [Output]
+ # return conjugated Quat.
+ def conjugate
+ return Quat.new( -self.x, -self.y, -self.z, self.w)
+ end
+
+ # [Output]
+ # return normalized result as Quat.
+ def normalize()
+ mag = Math.sqrt(self.x*self.x + self.y*self.y + self.z*self.z)
+ return Quat.new(self.x/mag, self.y/mag, self.z/mag, self.w/mag)
+ end
+
+ # [Input]
+ # _rhs_ should be Quat.
+ # [Output]
+ # return added result as Quat.
+ def +(rhs)
+ Util3D.check_arg_type(Quat, rhs)
+ t1 = Vector3.new(self.x, self.y, self.z)
+ t2 = Vector3.new(rhs.x, rhs.y, rhs.z)
+ dot = t1.dot(t2)
+ t3 = t2.cross(t1)
+
+ t1 *= rhs.w
+ t2 *= self.w
+
+ tf = t1 + t2 + t3
+ rtn_w = self.w * rhs.w - dot
+
+ return Quat.new(tf.x, tf.y, tf.z, rtn_w)
+ end
+
+ # [Input]
+ # _rsh_ should be Quat.
+ # [Output]
+ # return (outer products) multiplyed result as Quat.
+ def *(rhs)
+ Util3D.check_arg_type(Quat, rhs)
+
+ pw = self.w; px = self.x; py = self.y; pz = self.z;
+ qw = rhs.w ; qx = rhs.x ; qy = rhs.y ; qz = rhs.z;
+
+ w = pw * qw - px * qx - py * qy - pz * qz
+ x = pw * qx + px * qw + py * qz - pz * qy
+ y = pw * qy - px * qz + py * qw + pz * qx
+ z = pw * qz + px * qy - py * qx + pz * qw
+ return Quat.new( x,y,z,w )
+ end
+ end
+end
+