facets 1.8.54 → 2.0.0

data/lib/facets/more/quaternion.rb

@@ -1,560 +0,0 @@
-# = quaternion.rb
-#
-# == Copyright (c) 2002 K. Kodama
-#
-#   Ruby License
-#
-#   This module is free software. You may use, modify, and/or redistribute this
-#   software under the same terms as Ruby.
-#
-#   This program is distributed in the hope that it will be useful, but WITHOUT
-#   ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-#   FOR A PARTICULAR PURPOSE.
-#
-# == Author(s)
-#
-# * K. Kodama
-#
-# == Developer Notes
-#
-#   TODO The following documentation should occur before the methods
-#        they describe.
-
-# Author::    K. Kodama
-# Copyright:: Copyright (c) 2002 K. Kodama
-# License::   Ruby License
-
-require "mathn"
-require "complex"
-
-# = Quaternion
-#
-# NOTE This Quaternion class is still very experimental.
-#
-# 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 +, -, *.)
-
-=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
-
-
-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