geo3d 0.0.4 → 0.0.5

checksums.yaml

@@ -1,7 +1,7 @@
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data/README.md

@@ -167,10 +167,38 @@ Misc constructors
     Geo3d::Matrix.reflection reflection_plane  #returns a reflection matrix where reflection_plane is a Geo3d::Vector that corresponds to the normal of the plane
     Geo3d::Matrix.shadow light_position, plane  #returns a shadow matrix
 ```
+Matrix Decomposition
+```
+    matrix.scaling_component
+    matrix.translation_component
+    matrix.rotation_component
+```
 
 
 ## Quaternion
 
+A mathematical construct to represent rotations in 3d space.
+
+Quaternion Multiplication
+```
+    quat_a * quat_b
+```
+Getting axis and angle
+```
+    quat.axis
+    quat.angle
+```
+Converting to a matrix
+```
+    quat.to_matrix
+```
+Constructors
+```
+    Geo3d::Quaternion.from_axis rotation_axis, radians  #returns a quaternion from an axis and angle
+    Geo3d::Quaternion.from_matrix m  #returns a quaternion from a rotation matrix
+
+```
+
 Documentation coming soon!
 
 

data/lib/geo3d/version.rb

@@ -1,3 +1,3 @@
 module Geo3d
-  VERSION = "0.0.4"
+  VERSION = "0.0.5"
 end

data/lib/quaternion.rb

@@ -2,8 +2,15 @@ module Geo3d
   class Quaternion
     attr_reader :x, :y, :z, :w
 
-    def initialize
-      @x = @y = @z = @w = 0.0
+    def initialize *args
+      @x = 0.0
+      @y = 0.0
+      @z = 0.0
+      @w = 0.0
+      @x = args[0].to_f if args.size > 0
+      @y = args[1].to_f if args.size > 1
+      @z = args[2].to_f if args.size > 2
+      @w = args[3].to_f if args.size > 3
     end
 
     def x= v
@@ -22,6 +29,22 @@ module Geo3d
       @w = v.to_f
     end
 
+    def +@
+      self.class.new x, y, z, w
+    end
+
+    def -@
+      self.class.new -x, -y, -z, -w
+    end
+
+    def == q
+      Geo3d::Utils.float_cmp(x, q.x) && Geo3d::Utils.float_cmp(y, q.y) && Geo3d::Utils.float_cmp(z, q.z) && Geo3d::Utils.float_cmp(w, q.w)
+    end
+
+    def != vec
+      !(self == vec)
+    end
+
     def self.from_axis rotation_axis, radians = 0
       normalized_rotation_axis = rotation_axis.normalize
       #const float radians = GeoConvertToRadians( degrees );
@@ -34,6 +57,10 @@ module Geo3d
       q
     end
 
+    def self.from_axis_degrees rotation_axis, degrees = 0
+      from_axis rotation_axis, Geo3d::Utils.to_radians(degrees)
+    end
+
     def self.from_matrix pm
       pout = self.new
 
@@ -80,13 +107,30 @@ module Geo3d
       pout
     end
 
-    def * quat
-      out = Quat.new
-      out.w = w * quat.w - x * quat.x - y * quat.y - z * quat.z
-      out.x = w * quat.x + x * quat.w + y * quat.z - z * quat.y
-      out.y = w * quat.y - x * quat.z + y * quat.w + z * quat.x
-      out.z = w * quat.z + x * quat.y - y * quat.x + z * quat.w
-      out
+    def + quat
+      self.class.new x + quat.x, y + quat.y, z + quat.z, w + quat.w
+    end
+
+    def - quat
+      self.class.new x - quat.x, y - quat.y, z - quat.z, w - quat.w
+    end
+
+    def * v
+      if Quaternion == v.class
+        quat = v
+        out = self.class.new
+        out.w = w * quat.w - x * quat.x - y * quat.y - z * quat.z
+        out.x = w * quat.x + x * quat.w + y * quat.z - z * quat.y
+        out.y = w * quat.y - x * quat.z + y * quat.w + z * quat.x
+        out.z = w * quat.z + x * quat.y - y * quat.x + z * quat.w
+        out
+      else
+        self.class.new x*v, y*v, z*v, w*v
+      end
+    end
+
+    def / v
+      self.class.new x/v, y/v, z/v, w/v
     end
 
     def to_matrix
@@ -105,15 +149,70 @@ module Geo3d
     end
 
     def axis
+      q = normalize
       v = Vector.new
-      v.x = x / Math.sqrt(1-w*w)
-      v.y = y / Math.sqrt(1-w*w)
-      v.z = z / Math.sqrt(1-w*w)
+      v.x = q.x / Math.sqrt(1-q.w*q.w)
+      v.y = q.y / Math.sqrt(1-q.w*q.w)
+      v.z = q.z / Math.sqrt(1-q.w*q.w)
       v
     end
 
     def angle
-      Math.acos(w) * 2.0
+      q = normalize
+      Math.acos(q.w) * 2.0
+    end
+
+    def angle_degrees
+      Geo3d::Utils.to_degrees angle
+    end
+
+    def length_squared
+      dot self
+    end
+
+    def length
+      Math.sqrt length_squared
+    end
+
+    def dot quat
+      x * quat.x + y * quat.y + z * quat.z + w * quat.w
+    end
+
+    def normalize!
+      len = length
+      if length > 0
+        @x /= len
+        @y /= len
+        @z /= len
+        @w /= len
+      end
+    end
+
+    def normalize
+      q = self.class.new x, y, z, w
+      q.normalize!
+      q
+    end
+
+    def conjugate
+      self.class.new -x, -y, -z, w
+    end
+
+    def inverse
+      norm = length_squared
+      if norm.zero?
+        self.class.new 0, 0, 0, 0
+      else
+        conjugate / norm
+      end
+    end
+
+    def identity?
+      self == self.class.identity
+    end
+
+    def self.identity
+      self.new 0, 0, 0, 1
     end
   end
 end

data/lib/utils.rb

@@ -3,5 +3,13 @@ module Geo3d
     def self.float_cmp a, b, tolerance = 0.01
       (a-b).abs < tolerance
     end
+
+    def self.to_degrees radians
+      radians * 180.0 / Math::PI
+    end
+
+    def self.to_radians degrees
+      degrees * Math::PI / 180.0
+    end
   end
 end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: geo3d
 version: !ruby/object:Gem::Version
-  version: 0.0.4
+  version: 0.0.5
 platform: ruby
 authors:
 - Misha Conway
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2014-01-12 00:00:00.000000000 Z
+date: 2014-01-13 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler