geo3d 0.0.6 → 0.0.7

checksums.yaml

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

@@ -119,10 +119,11 @@ Inverse
 ```
     mat.inverse #returns inverse of matrix
     mat.inverse true  #returns inverse of matrix along with its determinant
+    mat.determinant #returns the determinant
 ```
 Transpose
 ```
-    mat.tranpose
+    mat.transpose
 ```
 
 Common matrix constructors
@@ -174,6 +175,37 @@ Matrix Decomposition
     matrix.rotation_component
 ```
 
+## Plane
+
+Represents a 2d surface in three dimensional space. Has the attributes a,b,c,d that mirror the standard plane equations.
+
+There are a couple constructors to build planes from points and normals.
+````
+Geo3d::Plane.from_points pv1, pv2, pv3  #builds a plane from known points on the plane
+Geo3d::Plane.from_point_and_normal point, normal  #builds a plane from it's normal and a known point
+````
+
+Additional plane operations
+
+Dot product
+```
+    plane.dot v  #v can be a vector or another plane
+```
+Normalize
+```
+    plane.normalize #returns a normalized version of the plane
+    plane.normalize! #normalizes the plane in place
+```
+Line intersection
+```
+    plane.line_intersection line_start, line_end  #returns the intersection of the line onto the plane
+````
+Plane Transformation
+````
+    #transforms plane by the matrix, if use_inverse_transpose is set to true, the plane will be transformed by the inverse transpose of matrix
+    plane.transform matrix, use_inverse_transpose = true
+````
+
 
 ## Quaternion
 

data/lib/geo3d/version.rb

@@ -1,3 +1,3 @@
 module Geo3d
-  VERSION = "0.0.6"
+  VERSION = "0.0.7"
 end

data/lib/matrix.rb

@@ -287,6 +287,18 @@ module Geo3d
       inverse(true).last
     end
 
+    def trace
+      _11 + _22 + _33 + _44
+    end
+
+    def orthogonal?
+      inverse == transpose
+    end
+
+    def is_rotation_transform?
+      orthogonal? && Geo3d::Utils.float_cmp(determinant, 1.0)
+    end
+
     def inverse with_determinant = false
       mat = to_a
       dst = Array.new 16

data/lib/quaternion.rb

@@ -13,6 +13,10 @@ module Geo3d
       @w = args[3].to_f if args.size > 3
     end
 
+    def to_a
+      [x,y,z,w]
+    end
+
     def x= v
       @x = v.to_f
     end
@@ -46,6 +50,7 @@ module Geo3d
     end
 
     def self.from_axis rotation_axis, radians = 0
+      radians = Geo3d::Utils.normalize_angle radians  #todo: is this cheating?....
       normalized_rotation_axis = rotation_axis.zero_w.normalize
       q = self.new
       q.x = Math.sin(radians / 2.0) * normalized_rotation_axis.x
@@ -62,13 +67,14 @@ module Geo3d
     def self.from_matrix pm
       pout = self.new
 
-      trace = pm._11 + pm._22 + pm._33 + 1.0
-      if trace > 0
-        pout.x = (pm._23 - pm._32) / (2.0 * Math.sqrt(trace))
-        pout.y = (pm._31 - pm._13) / (2.0 * Math.sqrt(trace))
-        pout.z = (pm._12- pm._21) / (2.0 * Math.sqrt(trace))
-        pout.w = Math.sqrt(trace) / 2.0
-        puts "a and pout is #{pout.inspect}"
+      #puts "trace is #{pm.trace}"
+      if false && pm.trace > 1.0
+        sq_root_of_trace = Math.sqrt pm.trace
+        pout.x = (pm._23 - pm._32) / (2.0 * sq_root_of_trace)
+        pout.y = (pm._31 - pm._13) / (2.0 * sq_root_of_trace)
+        pout.z = (pm._12- pm._21) / (2.0 * sq_root_of_trace)
+        pout.w = sq_root_of_trace / 2.0
+        #puts "a and pout is #{pout.inspect}"
 
         return pout
       end
@@ -104,7 +110,7 @@ module Geo3d
           pout.z = 0.25 * s
           pout.w = (pm._12 - pm._21) / s
       end
-      puts "b"
+      #puts "b"
       pout
     end
 
@@ -150,17 +156,11 @@ module Geo3d
     end
 
     def axis
-      q = normalize
-      v = Vector.new
-      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
+      Vector.new( *(normalize / Math.sin( angle / 2.0 )).to_a ).zero_w
     end
 
     def angle
-      q = normalize
-      Math.acos(q.w) * 2.0
+      Math.acos(normalize.w) * 2.0
     end
 
     def angle_degrees

data/lib/utils.rb

@@ -11,5 +11,18 @@ module Geo3d
     def self.to_radians degrees
       degrees * Math::PI / 180.0
     end
+
+    def self.normalize_angle radians
+      if radians.abs > Math::PI * 2.0
+        absolute = radians.abs % (Math::PI * 2.0 )
+        if radians < 0
+          -absolute
+        else
+          absolute
+        end
+      else
+        radians
+      end
+    end
   end
 end

data/spec/lib/matrix_spec.rb

@@ -26,15 +26,21 @@ describe Geo3d::Matrix do
   end
 
   it "should be able to extract translation component" do
-
+    translation = Geo3d::Vector.new 3,-4,6
+    matrix = Geo3d::Matrix.translation translation.x, translation.y, translation.z
+    matrix.translation_component.should == translation
   end
 
   it "should be able to extract scaling component" do
-
+    scaling = Geo3d::Vector.new 3,4,6
+    matrix = Geo3d::Matrix.scaling scaling.x, scaling.y, scaling.z
+    matrix.scaling_component.should == scaling
   end
 
   it "should be able to extract rotation component" do
-
+    angle = 2.234
+    matrix = Geo3d::Matrix.rotation_z angle
+    matrix.rotation_component.should == Geo3d::Quaternion.from_axis(Geo3d::Vector.new(0,0,1), angle)
   end
 
   it "should be invertible" do
@@ -157,6 +163,8 @@ describe Geo3d::Matrix do
       data[:expected].size.should == 16
       expected = Geo3d::Matrix.new *data[:expected]
       matrix.should == expected
+      matrix.is_rotation_transform?.should == true
+      expected.is_rotation_transform?.should == true
     end
   end
 
@@ -167,6 +175,8 @@ describe Geo3d::Matrix do
       data[:expected].size.should == 16
       expected = Geo3d::Matrix.new *data[:expected]
       matrix.should == expected
+      matrix.is_rotation_transform?.should == true
+      expected.is_rotation_transform?.should == true
     end
   end
 
@@ -177,6 +187,8 @@ describe Geo3d::Matrix do
       data[:expected].size.should == 16
       expected = Geo3d::Matrix.new *data[:expected]
       matrix.should == expected
+      matrix.is_rotation_transform?.should == true
+      expected.is_rotation_transform?.should == true
     end
   end
 
@@ -186,6 +198,8 @@ describe Geo3d::Matrix do
       data[:expected].size.should == 16
       expected = Geo3d::Matrix.new *data[:expected]
       matrix.should == expected
+      matrix.is_rotation_transform?.should == true
+      expected.is_rotation_transform?.should == true
     end
   end
 

data/spec/lib/quaternion_spec.rb

@@ -33,21 +33,32 @@ describe Geo3d::Quaternion do
   end
 
   it "should be able to convert to a rotation matrix" do
-
+    [{:quaternion => [0.0, 0.7071067811865475, 0.0, 0.7071067811865475], :expected => [0.000000, 0.000000, -1.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000]}].each do |data|
+      quaternion = Geo3d::Quaternion.new *data[:quaternion]
+      data[:expected].size.should == 16
+      expected = Geo3d::Matrix.new *data[:expected]
+      quaternion.to_matrix.should == expected
+    end
   end
 
-  it "should return axis of rotation" do
+  it "should return axis and angle of rotation" do
     for i in 0..10000
       angle = 0.1 * i + 0.1
-     # puts "angle is #{angle}"
-      #Geo3d::Quaternion.from_matrix(Geo3d::Matrix.rotation_x angle).axis.should == Geo3d::Vector.new(1, 0, 0)
-      #Geo3d::Quaternion.from_matrix(Geo3d::Matrix.rotation_y angle).axis.should == Geo3d::Vector.new(0, 1, 0)
-      #Geo3d::Quaternion.from_matrix(Geo3d::Matrix.rotation_z angle).axis.should == Geo3d::Vector.new(0, 0, 1)
-    end
-  end
+      normalized_angle = Geo3d::Utils.normalize_angle angle
+
+      Geo3d::Quaternion.from_axis(Geo3d::Vector.new(1, 0, 0), angle).axis.should == Geo3d::Vector.new(1, 0, 0)
+      Geo3d::Quaternion.from_axis(Geo3d::Vector.new(0, 1, 0), angle).axis.should == Geo3d::Vector.new(0, 1, 0)
+      Geo3d::Quaternion.from_axis(Geo3d::Vector.new(0, 0, 1), angle).axis.should == Geo3d::Vector.new(0, 0, 1)
 
-  it "should return rotation amount as angle" do
 
+      Geo3d::Quaternion.from_matrix(Geo3d::Matrix.rotation_x angle).axis.should == Geo3d::Vector.new(1, 0, 0)
+      Geo3d::Quaternion.from_matrix(Geo3d::Matrix.rotation_y angle).axis.should == Geo3d::Vector.new(0, 1, 0)
+      Geo3d::Quaternion.from_matrix(Geo3d::Matrix.rotation_z angle).axis.should == Geo3d::Vector.new(0, 0, 1)
+
+      Geo3d::Utils.float_cmp(Geo3d::Quaternion.from_matrix(Geo3d::Matrix.rotation_x angle).angle, normalized_angle).should == true
+      Geo3d::Utils.float_cmp(Geo3d::Quaternion.from_matrix(Geo3d::Matrix.rotation_y angle).angle, normalized_angle).should == true
+      Geo3d::Utils.float_cmp(Geo3d::Quaternion.from_matrix(Geo3d::Matrix.rotation_z angle).angle, normalized_angle).should == true
+    end
   end
 
   it "should return conjugate" do
@@ -108,6 +119,33 @@ describe Geo3d::Quaternion do
     end
   end
 
+
+  it "multiplying two quaternions with same axis should result in a quaternion with the same axis and the sum of their angles" do
+    [[1, 0, 0], [0, 1, 0], [0, 0, 1], [2, 2, 8]].each do |axis|
+      axis = Geo3d::Vector.new *axis
+
+      [[2.3, 0.4],
+       [2.3, 0.4, -0.1],
+       [-1, -0.25, -0.5, 2.3]].each do |angles|
+        product = nil
+        angles.each do |angle|
+          q = Geo3d::Quaternion.from_axis axis, angle
+          if product.nil?
+            product = q
+          else
+            product *= q
+          end
+        end
+
+        Geo3d::Utils.float_cmp(product.angle, angles.inject(:+)).should == true
+        product.axis.should == axis.normalize
+      end
+    end
+  end
+
+
+
+
   #todo: add tests for quaternion interpolation
 
 end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: geo3d
 version: !ruby/object:Gem::Version
-  version: 0.0.6
+  version: 0.0.7
 platform: ruby
 authors:
 - Misha Conway
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2014-01-15 00:00:00.000000000 Z
+date: 2014-01-16 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler