carats 0.3.0

data/lib/carat-dev/quaternion/quaternion.rb

@@ -0,0 +1,529 @@
+# K.Kodama 2002,9,23
+# This program is distributed freely 
+# in the sense of GNU General Public License or ruby's.
+
+warn "This Quaternion class is still very experimental version."
+
+=begin
+Quaternions are attributed to Sir William Rowan Hamilton
+who find it in 1843, and published a major analysis in 1844 called 
+"On a Species of Imaginary Quantities Connected with a Theory of Quaternions"
+in the Proceedings of the Royal Irish Academ. (2, pp 424-434). 
+
+Typical quaternion number q is of the form q = r + a i + b j + c k.
+Bases i j k behaves as follows:
+i^2 = j^2 = k^2 = -1,
+i j = k, j k = i, k i = j,
+j i = -k, k j = -i, i k = -j.
+Quaternion numbers are not Commutative.
+Quaternion is 
+4-D space over Real number,
+and 2-D space over Complex numbers as q = (a + b i) + (c + d i)j.
+
+
+Polar Coordinates:
+A Quaternion q = r + a i + b j + k c have 1st level polar form such that
+   q = |q|(cos t1 + sin t1 u1) , where u1 is unit vector of u1 = a1 i + b1 j + c1 k. 
+u1 have 2nd level
+   u1 = i cos t2 + sin t2 u2, where u2 is unit vector of u2 = b2 j + c2 k.
+And u2 have 3rd level
+   u2 = j cos t3 + k sin t3.
+So we have
+   q=|q|( cos t1 + sin t1 ( i cos t2 + sin t2 ( j cos t3 + k sin t3 ))).
+The equivalent to polar coordinates in quaternion space are
+r = |q| cos(t1),
+a = |q| sin(t1) cos(t2),
+b = |q| sin(t1) sin(t2) cos(t3),
+c = |q| sin(t1) sin(t2) sin(t3).
+
+|q| is known as the magnitude of the quaternion,
+t1 is the amplitude(or angle),
+t2 and t3 are the latitude (or co-latitude) and longitude respectively.
+
+
+Vector:
+A Quaternions q= r + a i + b j + c k is 4-D space over Real numbers.
+A Quaternions with zero real part q = a i + b j + c k is 3-D space,
+and called a vector quaternion or, simply, vector.
+For q = r + a i + b j + c k,
+v=a i + b j + c k is called vector part of q.
+A vector u of |u|=1 is called  a unit vector.
+We can write q = r + u |v| = |q|(cos t + u sin t).
+Note that u^2=-1.
+Vectors are 3-D space And can define cross-product q1 x q2.
+
+Rotation:
+Quaternion can be used to describe rotation in 3-D space.
+For a vector v and a Quaternion q = |q|(cos t/2 + u sin t/2),
+q v q^(-1) is a vector v t-rotated along u.
+Composit rotation of q1, q2 is described as q2 q1,
+because q2 (q1 v q1^(-1)) q2^(-1) = (q2 q1) v (q2 q1)^(-1).
+
+
+GCD:
+D4 lattice space is lattice points of Quaternion q = r + a i + b j + c k as follows.
+(1) r,a,b,c are all integer, or
+(2) r,a,b,c are all half-integer.
+D4 is sub-ring of Quaternion with GCD.
+(Ring means a space with +, -, *.)
+=end
+
+
+=begin
+
+* Building quaternions and taking them apart
+Quaternion(real number r)  #  r as quaternion
+Quaternion(a+bi)  #  a+bi as quaternion
+Quaternion(a+bi,c+di)  #  a+bi+cj+dk = (a+bi)+(c+di)j
+Quaternion(a,b=0,c=0,d=0)  #   a+bi+cj+dk
+Quaternion(quaternion number  q)  #  return q
+Quaternion::Zero  (=0 as quaternion)
+Quaternion::One   (=1 as quaternion)
+Quaternion::I     (=i as quaternion)
+Quaternion::J     (=j)
+Quaternion::K     (=k)
+q.re      ( = real part of q)
+q.real ( = real part of q)
+q.real_part ( = real part of q)
+q.im    ( = i part of q)
+q.image     ( = i part of q)
+q.jm    ( = j part of q)
+q.km    ( = k part of q)
+orthogonal_split(o)
+  return [q1,q2].
+  q = q1 + q2 such that q1 parallel to o, and q2 orthogonal to o.
+
+* Vector
+q.vector    ( = vector part of q = non-real part of q)
+q.unit_vector ( = unit vector of q)
+Quaternian::vector(v)
+  # 3-D vector v=[x,y,z] as array to Quaternion vector
+Quaternion::rotation(v,t)
+  # t-rotatin along the 3-D vector v
+q.rotate(r)
+  rotate by r = q r^(-1) 
+q.rotate_angle
+  # = q.amplitude/2
+
+* Polar notation
+Quaternion::polar(m,t1=0,t2=0,t3=0)
+q.magnitude  (= |q|)
+q.amplitude (=arg1)
+q.latitude  (=arg2)
+q.longitude (=arg3)
+q.arg1
+q.arg2
+q.arg3
+q.abs    ( = |q| )
+q.abs2  ( = |q|^2 )
+q.polar   # get array of [magnitude, amplitude, latitude, longitude]
+
+* Boolean
+Quaternion::generic?(other)
+q.is_vector?      # have no real part
+q.is_unit_vector?   # q is vector and |q|=1
+q.is_complex?     # j part =0 and k part = 0
+q.is_quaternion?     # have j or k part
+q.is_real?     # i,j,k parts are all 0
+
+* Arithmetic
+q.conjugate   (= q~)
+q.inverse     (=1/q)
+q1<=>q2     ( same as  |q1|<=>|q2| )
+q1==q2
+q1 + q2
+q1 - q2
+q1 * q2
+q1 / q2
+q1.dot_product(q2)   (Dot product q1, q2 = (q1*q2.conjugate).real_part )
+q1.cross_product(q2) (Cross product as vectors q1,q2)
+   Assume q1, q2 be 3-D vectors.
+q1.rdiv(q2) # right division: q1/q2 (same as /)
+q1.ldiv(q2) # left division: 1/q1 * q2
+
+* lattice or D4-lattice
+q.round #  round to integer coefficients
+q.round_D4 # round to D4 lattice
+q1.divmod(q2) # right divmod: q1=d*q2+m
+q1.ldivmod(q2) # left divmod: q2=q1*d+m
+q1 % q2 # right mod
+q1.rmod(q2) # right mod(same as %)
+q1.lmod(q2) # left mod
+divmod_D4 other # right divmod: q1=d*q2+m, d be D4 value
+ldivmod_D4 other # left divmod: q2=q1*d+m, d be D4 value
+rmod_D4 other # right mod with d be D4 value
+lmod_D4 other # left mod with d be D4 value
+q1.gcd(q2) # Asume that q1, q2 are D4 value
+
+* Exponential and logarithmic functions
+q.exp # e^(r+uv)=exp(r)(cos(v)+u*sin(v))
+q.log #  log(r+uv)=1/2 log(r^2+v^2)+u atan(v/w)
+q1**q2  ( = q1^q2 )
+q.sqrt   ( = q^1/2 )
+q.sinh
+q.cosh
+q.tanh
+
+* Trigonometric functions 
+q.sin
+q.cos
+q.tan
+
+* Inverse trigonometric functions
+q.asin
+q.acos
+q.atan
+
+* Conversion
+to_s   #  get string
+to_c  #  real and i part as complex
+to_c2  #  j and k part as complex
+to_v  # vector part as array
+to_a   # array of parts
+
+* Other
+q.hash
+q.inspect
+=end
+
+
+require "mathn"
+require "complex"
+
+def Quaternion(a=0, b=0,c=0, d=0)
+	if a.kind_of?(Quaternion);
+		a;
+	elsif a.kind_of?(Complex) and b.kind_of?(Complex);
+		Quaternion.new(a.real, a.image, b.real, b.image)
+	elsif a.kind_of?(Complex);
+		Quaternion.new(a.real, a.image)
+	else
+		Quaternion.new(a,b,c,d);
+	end
+end
+
+class Quaternion < Numeric
+	attr :re
+	attr :im
+	attr :jm
+	attr :km
+	def image; return @im; end
+	def real_part; return @re; end
+	def real; return @re; end
+	def to_c; return Complex(@re,@im); end
+	def to_c2; return Complex(@jm,@km); end
+	def to_a; return [@re, @im, @jm, @km]; end
+	def Quaternion::generic?(other)
+		return (other.kind_of?(Complex) or Complex.generic?(other));
+	end
+	def initialize(a=0,b=0,c=0,d=0)
+		raise "non numeric 1st arg `#{a.inspect}'" if !a.kind_of? Numeric;
+		raise "non numeric 2nd arg `#{b.inspect}'" if !b.kind_of? Numeric;
+		raise "non numeric 3rd arg `#{c.inspect}'" if !c.kind_of? Numeric;
+		raise "non numeric 4th arg `#{d.inspect}'" if !d.kind_of? Numeric;
+		@re=a; @im=b; @jm=c; @km=d
+	end
+	private :initialize
+
+	Zero=Quaternion(0)
+	One=Quaternion(1)
+	I=Quaternion(0,1)
+	J=Quaternion(0,0,1)
+	K=Quaternion(0,0,0,1)
+
+	def Quaternion::polar(m,t1=0,t2=0,t3=0)
+		# q=
+		#   m*cos(t1)
+		#   +m*sin(t1)cos(t2)i
+		#   +m*sin(t1)sin(t2)cos(t3)j
+		#   +m*sin(t1)sin(t2)sin(t3)k
+		# m is known as the magnitude,
+		# t1 is the amplitude(or angle) of the quaternion,
+		# t2 and t3 are the latitude (or co-latitude) and longitude respectively.
+		if m.kind_of?(Array) and (m.size==4); t1=m[1]; t2=m[2]; t3=m[3]; m=m[0]; end;
+		s=m
+		r_part=s*Math.cos(t1); s=s*Math.sin(t1)
+		i_part=s*Math.cos(t2); s=s*Math.sin(t2)
+		j_part=s*Math.cos(t3); k_part=s*Math.sin(t3)
+		new(r_part, i_part, j_part, k_part)
+	end
+	def amplitude; Math.atan2(Math.sqrt((@im*@im+@jm*@jm+@km*@km).to_f),@re.to_f); end
+	def latitude; Math.atan2(Math.sqrt((@jm*@jm+@km*@km).to_f),@im.to_f); end
+	def longitude; Math.atan2( @km.to_f, @jm.to_f); end
+	def arg1; return amplitude; end
+	def arg2; return latitude; end
+	def arg3; return longitude; end
+	def polar; [magnitude, amplitude, latitude, longitude]; end
+
+	def round; Quaternion(@re.round,@im.round,@jm.round,@km.round);end
+	def round_D4
+		# round to D4 lattice
+		r1=@re.round; a1=@im.round; b1=@jm.round; c1=@km.round;
+		q1=Quaternion(r1,a1,b1,c1); d1=(q1-self).abs2
+		if d1<=1/4; return q1; end
+		if @re<r1; r2=r1-1/2; else r2=r1+1/2; end
+		if @im<r1; a2=a1-1/2; else a2=a1+1/2; end
+		if @jm<r1; b2=b1-1/2; else b2=b1+1/2; end
+		if @km<r1; c2=c1-1/2; else c2=c1+1/2; end
+		q2=Quaternion(r2,a2,b2,c2); d2=(q2-self).abs2
+		if d1<=d2; return q1; else return q2; end
+	end
+	def abs2; return @re*@re+@im*@im+@jm*@jm+@km*@km; end
+	def abs; Math.sqrt((@re*@re+@im*@im+@jm*@jm+@km*@km).to_f); end
+	def magnitude; return abs; end
+	def conjugate; Quaternion(@re,-@im,-@jm,-@km); end
+	def inverse; conjugate/abs2; end
+
+	def is_real?; @im==0 and @jm==0 and @km==0; end
+	def is_complex?; @jm==0 and @km==0; end
+	def is_quaternion?; not(is_complex?); end
+
+	def vector; Quaternion(0,@im,@jm,@km); end
+	def is_vector?; @re==0; end
+	def to_v; return [@im, @jm, @km]; end
+	def Quaternion::vector(v)
+		# 3-D vector v=[x,y,z]
+		Quaternion(0,v[0],v[1],v[2])
+	end
+	def unit_vector
+		if is_real?; return Quaternion(0,1); end
+		m=Math::sqrt((@im*@im+@jm*@jm+@km*@km).to_f)
+		Quaternion(0,@im/m,@jm/m,@km/m);
+	end
+	def is_unit_vector?; @re==0 and abs2==1; end
+	def Quaternion::rotation(v,t)
+		# t-rotatin along the 3-D vector v
+		(Quaternion::vector(v).unit_vector) * Math::sin(t/2) + Math::cos(t/2)
+	end
+	def rotate(r); r * self * r.conjugate / r.abs2; end
+	def rotate_angle; amplitude/2; end
+
+	# Arithmetic
+	def coerce(other)
+		if other.kind_of?(Complex); return Quaternion(other), self
+		elsif Complex::generic?(other); return Quaternion(other), self
+		else super
+		end
+	end
+	def <=> (other); self.abs <=> other.abs; end
+	def == (other)
+		if other.kind_of?(Quaternion)
+			return (@re==other.re and @im==other.im and @jm==other.jm and @km==other.km)
+		elsif other.kind_of?(Complex)
+			@re==other.real and @im==other.image and @jm==0 and @km==0
+		elsif Complex.generic?(other)
+			@re==other and @im==0 and @jm==0 and @km==0
+		else x , y = other.coerce(self); x == y
+		end
+	end
+	def + (other)
+		if other.kind_of?(Quaternion)
+			Quaternion(@re+other.re,@im+other.im,@jm+other.jm,@km+other.km)
+		elsif other.kind_of?(Complex)
+			Quaternion(@re+other.real,@im+other.image, @jm, @km)
+		elsif Complex.generic?(other)
+			Quaternion(@re+other.real,@im, @jm, @km)
+		else x , y = other.coerce(self); x + y
+		end
+	end
+	def - (other)
+		if other.kind_of?(Quaternion)
+			Quaternion(@re-other.re,@im-other.im,@jm-other.jm,@km-other.km)
+		elsif other.kind_of?(Complex)
+			Quaternion(@re-other.real,@im-other.image, @jm, @km)
+		elsif Complex.generic?(other)
+			Quaternion(@re-other.real,@im, @jm, @km)
+		else x , y = other.coerce(self); x - y
+		end
+	end
+	def * (other)
+		if other.kind_of?(Quaternion)
+			Quaternion(@re*other.re-@im*other.im-@jm*other.jm-@km*other.km,
+				   @re*other.im+@im*other.re+@jm*other.km-@km*other.jm,
+				   @re*other.jm-@im*other.km+@jm*other.re+@km*other.im,
+				   @re*other.km+@im*other.jm-@jm*other.im+@km*other.re)
+		elsif other.kind_of?(Complex)
+			Quaternion(@re*other.real - @im*other.image,
+				   @re*other.image + @im*other.real,
+				   @jm*other.real + @km*other.image,
+				   @km*other.real - @jm*other.image)
+		elsif Complex.generic?(other)
+			Quaternion(@re * other, @im * other, @jm * other, @km * other)
+		else x , y = other.coerce(self); x * y
+		end
+	end
+	def dot_product other
+		(self*other.conjugate).re
+	end
+	def cross_product other
+		-(self*other.conjugate).vector
+	end
+	def / other
+		if other.kind_of?(Quaternion); self*other.conjugate/other.abs2
+		elsif other.kind_of?(Complex); self*other.conjugate/other.abs2
+		elsif Complex.generic?(other); 
+			Quaternion(@re/other, @im/other, @jm/other, @km/other )
+		else x, y = other.coerce(self); x / y
+		end
+	end
+	def rdiv other
+		# right division: q1/q2
+		self/other
+	end
+	def ldiv other
+		# left division: 1/q1 * q2
+		(self.conjugate)*other/self.abs2
+	end
+	def divmod other
+		# right divmod: q1=d*q2+m
+		d=self.rdiv(other).round; m=self-d*other; return d,m
+	end
+	def divmod_D4 other
+		# right divmod: q1=d*q2+m, d be D4
+		d=self.rdiv(other).round_D4; m=self-d*other; return d,m
+	end
+	def ldivmod other
+		# left divmod: q2=q1*d+m
+		d=self.ldiv(other).round; m=other-self*d; return d,m
+	end
+	def ldivmod_D4 other
+		# left divmod: q2=q1*d+m, d be D4
+		d=self.ldiv(other).round_D4; m=other-self*d; return d,m
+	end
+	def % other
+		# right mod
+		d,m=divmod(other); return m
+	end
+	def rmod other
+		# right mod(same as %)
+		d,m=divmod(other); return m
+	end
+	def rmod_D4 other
+		# right mod with D4
+		d,m=divmod_D4(other); return m
+	end
+	def lmod other
+		# left mod
+		d,m=ldivmod(other); return m
+	end
+	def lmod_D4 other
+		# left mod with D4
+		d,m=ldivmod_D4(other); return m
+	end
+	def gcd other
+		a=self; b=other
+		while true
+			if b==0 ; return a;end
+			a=a.rmod_D4(b)
+			if a==0 ; return b;end
+			b=a.lmod_D4(b)
+		end
+	end
+	def orthogonal_split(o)
+		# [q1,q2]. q = q1 + q2 such that q1 parallel to o, and q2 orthogonal to o.
+		q1 = o * dot_product(o); q2=self-q1; return q1,q2
+	end
+
+	# Exponential and logarithmic functions
+	def exp
+		# e^(r+uv)=exp(r)(cos(v)+u*sin(v))
+		if is_real?; return Quaternion(Math::exp(@re)); end
+		vec=self.vector; v=vec.abs; u = vec/v;
+		Math::exp(@re)*(Math::cos(v)+u*Math::sin(v))
+	end
+	def log
+		# log(r+uv)=1/2 log(r^2+v^2)+u atan(v/r)
+		if is_real?;
+			if @re>=0; return Quaternion(Math::log(@re));
+			else return Quaternion(Math::log(-@re),Math::PI,0,0);
+			end
+		end
+		vec=self.vector; v=vec.abs; u = vec/v;
+		Math::log(self.abs2.to_f)/2+u*Math::atan2( v, @re)
+	end
+	def ** other
+		# q1^q2 = exp((log q1)*q2)
+		if other.kind_of?(Quaternion); ((self.log)*other).exp
+		elsif other.kind_of?(Complex); ((self.log)*other).exp
+		elsif other.kind_of?(Integer);
+			if other==0; return One;
+			elsif other>0;
+				x = self; q = x; n = other - 1
+				while n != 0
+					while (d, m = n.divmod(2); m == 0); x = x*x; n = d; end
+					q *= x; n -= 1
+				end
+				return q
+			else return self.inverse**(-other)
+			end
+		elsif Quaternion::generic?(other); ((self.log)*other).exp
+		else x, y = other.coerce(self); x ** y
+		end;
+	end
+	def sqrt; self**(0.5); end
+	def sinh; e=exp; return (e-e.inverse)/2; end
+	def cosh; e=exp; return (e+e.inverse)/2; end
+	def tanh; e=exp; e=e*e; return (e-1)/(e+1); end
+	#  Trigonometric functions
+	def sin
+		# sin(r+uv)=sin r cosh v + u cos r sinh v
+		vec=self.vector; v=vec.abs; if v==0; return Quaternion(Math::sin(@re)); end
+		u = vec/v; e=Math::exp(v); er=1/e; c=e+er; s=e-er
+		(Math::sin(@re)*c+u*Math::cos(@re)*s)/2
+	end
+	def cos
+		# cos(r+uv)=cos r cosh v - u sin r sinh v
+		vec=self.vector; v=vec.abs; if v==0; return Quaternion(Math::cos(@re)); end
+		u = vec/v; e=Math::exp(v); er=1/e; c=e+er; s=e-er
+		(Math::cos(@re)*c-u*Math::sin(@re)*s)/2
+	end
+	def tan
+		vec=self.vector; v=vec.abs; if v==0; return Quaternion(Math::tan(@re)); end
+		u = vec/v; e=Math::exp(v); er=1/e; c=e+er; s=e-er
+		co=Math::cos(@re); si=Math::sin(@re);  (si*c+u*co*s)/(co*c-u*si*s)
+	end
+
+	# Inverse trigonometric functions
+	def asin
+		# asin q = -u log(uq+sqrt(1-q^2))
+		q=self; u=unit_vector; -u*((u*q+(1-q*q).sqrt).log)
+	end
+	def acos
+		# acos q = -u log(q+sqrt(q^2-1))
+		q=self; u=unit_vector; -u*((q+(q*q-1).sqrt).log)
+	end
+	def atan
+		# atan q = u/2 log( (u+q)/(u-q)  )
+		q=self; u=q.unit_vector; u*((u+q)/(u-q)).log/2
+	end
+
+
+	def hash; @re^@im^@jm^@km; end
+
+	def inspect
+		sprintf("Quaternion(%s,%s,%s,%s)",
+				@re.inspect, @im.inspect, @jm.inspect, @km.inspect)
+	end
+	def to_s
+		s=""
+		if @re!=0; s=@re.to_s; end
+		if @im!=0; 
+			if s==""; s=sprintf("%si", @im);
+			else if @im>0; s=sprintf("%s+%si",s,@im); else s=sprintf("%s-%si",s,-@im); end
+			end
+		end
+		if @jm!=0; 
+			if s==""; s=sprintf("%sj", @jm); 
+			else if @jm>0; s=sprintf("%s+%sj",s,@jm); else s=sprintf("%s-%sj",s,-@jm); end
+			end
+		end
+		if @km!=0; 
+			if s==""; s=sprintf("%sk", @km);
+			else if @km>0; s=sprintf("%s+%sk",s,@km); else s=sprintf("%s-%sk",s,-@km); end
+			end
+		end
+		if s=="" ; s="0"; end;
+		return s
+	end
+	
+end # Quaternion