glmath 0.0.1.dev
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- checksums.yaml +7 -0
- data/lib/glmath.rb +21 -0
- data/lib/glmath/euler_angle.rb +60 -0
- data/lib/glmath/line.rb +19 -0
- data/lib/glmath/matrix.rb +413 -0
- data/lib/glmath/matrix2.rb +81 -0
- data/lib/glmath/matrix3.rb +108 -0
- data/lib/glmath/matrix4.rb +145 -0
- data/lib/glmath/matrix_stack.rb +91 -0
- data/lib/glmath/quaternion.rb +212 -0
- data/lib/glmath/rect.rb +135 -0
- data/lib/glmath/scalar.rb +33 -0
- data/lib/glmath/vector.rb +155 -0
- data/lib/glmath/vector2.rb +45 -0
- data/lib/glmath/vector3.rb +66 -0
- data/lib/glmath/vector4.rb +54 -0
- data/lib/version.rb +4 -0
- metadata +90 -0
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module GLMath
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class Matrix2
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class << self
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def dimension
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6
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2
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7
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end
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8
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9
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#conter-clockwise rotation
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def rotation(theta, homogenous = false)
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s, c = Math.sin(theta), Math.cos(theta)
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m = new(c, -s, s, c)
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homogenous ? m.expand : m
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end
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def scale(x, y, homogenous = false)
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m = diagonal(x, y)
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homogenous ? m.expand : m
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end
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end
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include Matrix
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def *(v)
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case v
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when Vector2
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v.class.new(@m[0] * v.x + @m[1] * v.y, @m[2] * v.x + @m[3] * v.y)
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when Matrix2
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m = v.instance_variable_get(:@m)
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self.class.new(@m[0]*m[0] + @m[1]*m[2], @m[0]*m[1] + @m[1]*m[3],
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@m[2]*m[0] + @m[3]*m[2], @m[2]*m[1] + @m[3]*m[3])
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when Numeric
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super
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else
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raise ArgumentError
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end
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end
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def adjugate!
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@m = [ @m[3], -@m[1],
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-@m[2], @m[0]]
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self
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end
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def determinant
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@m[0] * @m[3] - @m[1] * @m[2]
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end
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def expand
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Matrix3.new(@m[0], @m[1], 0.0,
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@m[2], @m[3], 0.0,
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0.0, 0.0, 1.0)
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end
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def inverse
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d = determinant
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raise ArgumentError, 'Determinant is zero' if d.zero?
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adjugate * (1.0 / d)
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end
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def lup
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raise ArgumentError, "Determinant is zero" if singular?
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if @m[0].abs > @m[1].abs
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a, b, c, d = 0, 1, 2, 3
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p = self.class.new(1.0, 0.0, 0.0, 1.0)
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else
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a, b, c, d = 2, 3, 0, 1
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p = self.class.new(0.0, 1.0, 1.0, 0.0)
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end
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l = self.class.new(1.0, 0.0, @m[c] / @m[a], 1.0)
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u = self.class.new(@m[a], @m[b], 0.0, @m[d] - @m[b]*@m[c] / @m[a])
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[l, u, p]
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end
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alias_method :det, :determinant
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alias_method :lup_decomposition, :lup
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end
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end
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module GLMath
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class Matrix3
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class << self
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def dimension
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6
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3
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7
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end
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8
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9
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def rotation(angle, axis, homogenous = false)
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n = axis.normalize
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ct = Math.cos(angle)
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st = Math.sin(angle)
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ct1 = 1 - ct
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xy = n.x * n.y * ct1
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xz = n.x * n.z * ct1
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yz = n.y * n.z * ct1
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m = new(n.x*n.x*ct1 + ct, xy + n.z * st, xz - n.y * st,
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xy - n.z * st, n.y*n.y*ct1 + ct, yz + n.x * st,
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xz + n.y * st, yz - n.x * st, n.z*n.z*ct1 + ct)
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homogenous ? m.expand : m
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end
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def scale(x, y, z, homogenous = false)
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m = diagonal(x, y, z)
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homogenous ? m.expand : m
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end
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def translation(x, y)
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Matrix3.new(1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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x, y, 1.0)
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end
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def from_euler_angle(x:, y:, z:)
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# TODO
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end
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end
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include Matrix
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def *(v)
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case v
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when Vector3
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v.class.new(@m[0] * v.x + @m[1] * v.y + @m[2] * v.z,
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@m[3] * v.x + @m[4] * v.y + @m[5] * v.z,
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@m[6] * v.x + @m[7] * v.y + @m[8] * v.z)
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when Matrix3
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m = v.instance_variable_get(:@m)
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self.class.new(
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@m[0]*m[0]+@m[1]*m[3]+@m[2]*m[6], @m[0]*m[1]+@m[1]*m[4]+@m[2]*m[7], @m[0]*m[2] + @m[1]*m[5] + @m[2]*m[8],
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@m[3]*m[0]+@m[4]*m[3]+@m[5]*m[6], @m[3]*m[1]+@m[4]*m[4]+@m[5]*m[7], @m[3]*m[2] + @m[4]*m[5] + @m[5]*m[8],
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@m[6]*m[0]+@m[7]*m[3]+@m[8]*m[6], @m[6]*m[1]+@m[7]*m[4]+@m[8]*m[7], @m[6]*m[2] + @m[7]*m[5] + @m[8]*m[8])
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else
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super
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end
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end
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def adjugate!
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@m =[@m[4] * @m[8] - @m[5] * @m[7],
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@m[5] * @m[6] - @m[3] * @m[8],
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@m[3] * @m[7] - @m[4] * @m[6],
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@m[2] * @m[7] - @m[1] * @m[8],
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@m[0] * @m[8] - @m[2] * @m[6],
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@m[1] * @m[6] - @m[0] * @m[7],
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@m[1] * @m[5] - @m[2] * @m[4],
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@m[2] * @m[3] - @m[0] * @m[5],
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@m[0] * @m[4] - @m[1] * @m[3]]
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self
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end
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def determinant
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@m[0] * ( @m[4] * @m[8] - @m[5] * @m[7] ) +
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@m[1] * ( @m[5] * @m[6] - @m[3] * @m[8] ) +
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@m[2] * ( @m[3] * @m[7] - @m[4] * @m[6] )
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end
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def expand
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Matrix4.new(@m[0], @m[1], @m[2], 0.0,
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@m[3], @m[4], @m[5], 0.0,
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@m[6], @m[7], @m[8], 0.0,
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0.0, 0.0, 0.0, 1.0)
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end
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def to_axis_angle
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# TODO
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end
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def orthonormalize
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# TODO
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end
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def eigen_decomposition()
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# TODO
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end
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def to_euler_angle
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# TODO
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end
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def slerp
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# TODO
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end
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alias_method :det, :determinant
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end
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end
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module GLMath
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2
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# Left Handed
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class Matrix4
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class << self
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def dimension
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6
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4
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end
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def look_at(eye, center, up)
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f = (center - eye).normalize!
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s = f.cross(up).normalize!
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u = s.cross(f).normalize!
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new(s.x, u.x, -f.x, 0.0,
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s.y, u.y, -f.y, 0.0,
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s.z, u.z, -f.z, 0.0,
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-eye.x, -eye.y, -eye.z, 1.0)
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end
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def ortho(left, right, bottom, top, near, far)
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rl = right.to_f - left.to_f
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tb = top.to_f - bottom.to_f
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fn = far.to_f - near.to_f
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new(2.0/rl, 0.0, 0.0, 0.0,
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0.0, 2.0/tb, 0.0, 0.0,
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0.0, 0.0, -2.0/fn, 0.0,
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-(right + left)/rl, -(top + bottom)/tb, -(far + near)/fn, 1.0)
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end
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def perspective(fovy, aspect, near, far)
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zoom = 1.0 / Math.tan(fovy * 0.5)
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fn = 1.0 / (far - near)
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new(zoom/aspect, 0.0, 0.0, 0.0,
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0.0, zoom, 0.0, 0.0,
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0.0, 0.0, (far + near)*fn, 1.0,
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0.0, 0.0, -2.0*far*near*fn, 0.0)
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end
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def rotation(angle, axis)
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Matrix3.rotation(angle, axis, true)
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end
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def scale(x, y, z, w = 1.0)
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diagonal(x, y, z, w)
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end
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def translation(x, y, z)
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Matrix4.new(1.0, 0.0, 0.0, 0.0,
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0.0, 1.0, 0.0, 0.0,
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0.0, 0.0, 1.0, 0.0,
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x, y, z, 1.0)
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end
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end
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include Matrix
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def *(v)
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case v
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when Vector4
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v.class.new(
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@m[ 0] * v.x + @m[ 1] * v.y + @m[ 2] * v.z + @m[ 3] * v.w,
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@m[ 4] * v.x + @m[ 5] * v.y + @m[ 6] * v.z + @m[ 7] * v.w,
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@m[ 8] * v.x + @m[ 9] * v.y + @m[10] * v.z + @m[11] * v.w,
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@m[12] * v.x + @m[13] * v.y + @m[14] * v.z + @m[15] * v.w)
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when Matrix4
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m = v.instance_variable_get(:@m)
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self.class.new(
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@m[ 0] * m[0] + @m[ 1] * m[4] + @m[ 2] * m[ 8] + @m[ 3] * m[12],
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@m[ 0] * m[1] + @m[ 1] * m[5] + @m[ 2] * m[ 9] + @m[ 3] * m[13],
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@m[ 0] * m[2] + @m[ 1] * m[6] + @m[ 2] * m[10] + @m[ 3] * m[14],
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@m[ 0] * m[3] + @m[ 1] * m[7] + @m[ 2] * m[11] + @m[ 3] * m[15],
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@m[ 4] * m[0] + @m[ 5] * m[4] + @m[ 6] * m[ 8] + @m[ 7] * m[12],
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@m[ 4] * m[1] + @m[ 5] * m[5] + @m[ 6] * m[ 9] + @m[ 7] * m[13],
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@m[ 4] * m[2] + @m[ 5] * m[6] + @m[ 6] * m[10] + @m[ 7] * m[14],
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@m[ 4] * m[3] + @m[ 5] * m[7] + @m[ 6] * m[11] + @m[ 7] * m[15],
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@m[ 8] * m[0] + @m[ 9] * m[4] + @m[10] * m[ 8] + @m[11] * m[12],
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@m[ 8] * m[1] + @m[ 9] * m[5] + @m[10] * m[ 9] + @m[11] * m[13],
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@m[ 8] * m[2] + @m[ 9] * m[6] + @m[10] * m[10] + @m[11] * m[14],
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@m[ 8] * m[3] + @m[ 9] * m[7] + @m[10] * m[11] + @m[11] * m[15],
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@m[12] * m[0] + @m[13] * m[4] + @m[14] * m[ 8] + @m[15] * m[12],
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@m[12] * m[1] + @m[13] * m[5] + @m[14] * m[ 9] + @m[15] * m[13],
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@m[12] * m[2] + @m[13] * m[6] + @m[14] * m[10] + @m[15] * m[14],
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@m[12] * m[3] + @m[13] * m[7] + @m[14] * m[11] + @m[15] * m[15])
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84
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else
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super
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86
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end
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87
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end
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88
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89
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def adjoint!
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90
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a = @m[4] * @m[9] - @m[5] * @m[8]
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91
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b = @m[4] * @m[10] - @m[6] * @m[8]
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92
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c = @m[4] * @m[11] - @m[7] * @m[8]
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93
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d = @m[4] * @m[13] - @m[5] * @m[12]
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94
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f = @m[4] * @m[14] - @m[6] * @m[12]
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95
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g = @m[4] * @m[15] - @m[7] * @m[12]
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96
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h = @m[5] * @m[10] - @m[6] * @m[9]
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97
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i = @m[5] * @m[11] - @m[7] * @m[9]
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98
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j = @m[5] * @m[14] - @m[6] * @m[13]
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99
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k = @m[5] * @m[15] - @m[7] * @m[13]
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100
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l = @m[6] * @m[11] - @m[7] * @m[10]
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101
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m = @m[6] * @m[15] - @m[7] * @m[14]
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102
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n = @m[8] * @m[13] - @m[9] * @m[12]
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103
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o = @m[8] * @m[14] - @m[10] * @m[12]
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p = @m[8] * @m[15] - @m[11] * @m[12]
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105
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q = @m[9] * @m[14] - @m[10] * @m[13]
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106
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r = @m[9] * @m[15] - @m[11] * @m[13]
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107
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s = @m[10] * @m[15] - @m[11] * @m[14]
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108
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+
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109
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@m = [+ @m[5] * s - @m[6] * r + @m[7] * q,
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110
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- @m[4] * s + @m[6] * p - @m[7] * o,
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111
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+ @m[4] * r - @m[5] * p + @m[7] * n,
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112
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+
- @m[4] * q + @m[5] * o - @m[6] * n,
|
113
|
+
- @m[1] * s + @m[2] * r - @m[3] * q,
|
114
|
+
+ @m[0] * s - @m[2] * p + @m[3] * o,
|
115
|
+
- @m[0] * r + @m[1] * p - @m[3] * n,
|
116
|
+
+ @m[0] * q - @m[1] * o + @m[2] * n,
|
117
|
+
+ @m[1] * m - @m[2] * k + @m[3] * j,
|
118
|
+
- @m[0] * m + @m[2] * g - @m[3] * f,
|
119
|
+
+ @m[0] * k - @m[1] * g + @m[3] * d,
|
120
|
+
- @m[0] * j + @m[1] * f - @m[2] * d,
|
121
|
+
- @m[1] * l + @m[2] * i - @m[3] * h,
|
122
|
+
+ @m[0] * l - @m[2] * c + @m[3] * b,
|
123
|
+
- @m[0] * i + @m[1] * c - @m[3] * a,
|
124
|
+
+ @m[0] * h - @m[1] * b + @m[2] * a]
|
125
|
+
self
|
126
|
+
end
|
127
|
+
|
128
|
+
def determinant
|
129
|
+
a = @m[10] * @m[15] - @m[11] * @m[14]
|
130
|
+
b = @m[11] * @m[13] - @m[9] * @m[15]
|
131
|
+
c = @m[9] * @m[14] - @m[10] * @m[13]
|
132
|
+
d = @m[8] * @m[15] - @m[11] * @m[12]
|
133
|
+
e = @m[10] * @m[12] - @m[8] * @m[14]
|
134
|
+
f = @m[8] * @m[13] - @m[9] * @m[12]
|
135
|
+
|
136
|
+
@m[0] * ( @m[5] * a + @m[6] * b + @m[7] * c) +
|
137
|
+
@m[1] * (-@m[4] * a + @m[6] * d + @m[7] * e) +
|
138
|
+
@m[2] * (-@m[4] * b - @m[5] * d + @m[7] * f) +
|
139
|
+
@m[3] * (-@m[4] * c - @m[5] * e - @m[6] * f)
|
140
|
+
end
|
141
|
+
|
142
|
+
alias_method :det, :determinant
|
143
|
+
|
144
|
+
end
|
145
|
+
end
|
@@ -0,0 +1,91 @@
|
|
1
|
+
module GLMath
|
2
|
+
class MatrixStack
|
3
|
+
|
4
|
+
def initialize
|
5
|
+
@stack = [Matrix4.I]
|
6
|
+
end
|
7
|
+
|
8
|
+
%w'* - +'.each do |m|
|
9
|
+
define_method(m, ->(v) do
|
10
|
+
@stack[-1] = @stack.last.send(m, check(v))
|
11
|
+
self
|
12
|
+
end)
|
13
|
+
end
|
14
|
+
|
15
|
+
def <<(m)
|
16
|
+
@stack << check(m)
|
17
|
+
self
|
18
|
+
end
|
19
|
+
|
20
|
+
def current
|
21
|
+
@stack.last.dup
|
22
|
+
end
|
23
|
+
|
24
|
+
def dup
|
25
|
+
MatrixStack.new.tap { |ms| ms.instance_variable_set(:@stack, @stack.map(&:dup)) }
|
26
|
+
end
|
27
|
+
|
28
|
+
def push(m = current)
|
29
|
+
self << m
|
30
|
+
return self unless block_given?
|
31
|
+
yield self
|
32
|
+
pop
|
33
|
+
self
|
34
|
+
end
|
35
|
+
|
36
|
+
def pop(n = 1)
|
37
|
+
@stack.pop(n)
|
38
|
+
end
|
39
|
+
|
40
|
+
def load(*args)
|
41
|
+
@stack[-1] = case
|
42
|
+
when args.length == 16 then Matrix4[*args]
|
43
|
+
when args.length == 9 then Matrix3[*args].expand
|
44
|
+
when args.length == 1 then check(args[0])
|
45
|
+
else raise ArgumentError
|
46
|
+
end
|
47
|
+
end
|
48
|
+
|
49
|
+
def load_identity
|
50
|
+
load(Matrix4.I)
|
51
|
+
end
|
52
|
+
|
53
|
+
def look_at(eye, center, up)
|
54
|
+
self * Matrix4.look_at(eye, center, up)
|
55
|
+
end
|
56
|
+
|
57
|
+
def ortho(left, right, bottom, top, near, far)
|
58
|
+
self * Matrix4.ortho(left, right, bottom, top, near, far)
|
59
|
+
end
|
60
|
+
|
61
|
+
def perspective(fovy, aspect, near, far)
|
62
|
+
self * Matrix4.perspective(fovy, aspect, near, far)
|
63
|
+
end
|
64
|
+
|
65
|
+
def rotate(arg, axis = nil)
|
66
|
+
self * case axis
|
67
|
+
when Vector3, Vector4 then Matrix4.rotation(arg, axis)
|
68
|
+
when Quaternion, EulerAngle then arg.to_matrix
|
69
|
+
else raise ArgumentError
|
70
|
+
end
|
71
|
+
end
|
72
|
+
|
73
|
+
def scale(x, y, z, w = 1.0)
|
74
|
+
self * Matrix4.scale(x, y, z, w)
|
75
|
+
end
|
76
|
+
|
77
|
+
#def shear()
|
78
|
+
# #TODO
|
79
|
+
#end
|
80
|
+
|
81
|
+
def translate(x, y, z)
|
82
|
+
self * Matrix4.translation(x, y, z)
|
83
|
+
end
|
84
|
+
|
85
|
+
private
|
86
|
+
def check(m)
|
87
|
+
raise ArgumentError unless m.is_a?(Matrix4)
|
88
|
+
m
|
89
|
+
end
|
90
|
+
end
|
91
|
+
end
|
@@ -0,0 +1,212 @@
|
|
1
|
+
module GLMath
|
2
|
+
class Quaternion
|
3
|
+
class << self
|
4
|
+
def [](*args)
|
5
|
+
new(*args)
|
6
|
+
end
|
7
|
+
|
8
|
+
def from_angle_axis(angle, axis)
|
9
|
+
angle *= 0.5
|
10
|
+
axis = axis.normalize
|
11
|
+
sa = Math.sin(angle)
|
12
|
+
new(Math.cos(angle), sa * axis.x, sa * axis.y, sa * axis.z)
|
13
|
+
end
|
14
|
+
|
15
|
+
def identity
|
16
|
+
new(1.0, 0.0, 0.0, 0.0)
|
17
|
+
end
|
18
|
+
|
19
|
+
def slerp(q0, q1, t)
|
20
|
+
(q1 * q0.inverse).power(t) * q0
|
21
|
+
end
|
22
|
+
|
23
|
+
alias_method :I, :identity
|
24
|
+
end
|
25
|
+
|
26
|
+
def initialize(w, x, y, z)
|
27
|
+
@q = w, x, y, z
|
28
|
+
raise ArgumentError, 'arguments must be Numeric' unless @q.all? { |e| e.is_a?(Numeric) }
|
29
|
+
end
|
30
|
+
|
31
|
+
def +(v)
|
32
|
+
case v
|
33
|
+
when Numeric
|
34
|
+
self.class.new(v + w, x, y, z)
|
35
|
+
when Quaternion
|
36
|
+
self.class.new(q + v.w, x + v.x, y + v.y, z + v.z)
|
37
|
+
else
|
38
|
+
v + self
|
39
|
+
end
|
40
|
+
end
|
41
|
+
|
42
|
+
def -(q)
|
43
|
+
self + (-q)
|
44
|
+
end
|
45
|
+
|
46
|
+
def *(v)
|
47
|
+
case v
|
48
|
+
when Numeric
|
49
|
+
self.class.new(q * v, x * v, y * v, z * v)
|
50
|
+
when Quaternion
|
51
|
+
cross_product(v)
|
52
|
+
end
|
53
|
+
end
|
54
|
+
|
55
|
+
def /(v)
|
56
|
+
case v
|
57
|
+
when Numeric
|
58
|
+
self.class.new(*@q.map { |i| i/v})
|
59
|
+
when Quaternion
|
60
|
+
self * v.inverse
|
61
|
+
end
|
62
|
+
end
|
63
|
+
|
64
|
+
def -@
|
65
|
+
self.class.new(*@q.map(&:-@))
|
66
|
+
end
|
67
|
+
|
68
|
+
def ==(other)
|
69
|
+
self.class === other && @q == other.instance_variable_get(:@q)
|
70
|
+
end
|
71
|
+
|
72
|
+
%w'w x y z'.each_with_index do |m, i|
|
73
|
+
define_method m, ->() { @q[i] }
|
74
|
+
define_method "#{m}=", ->(v) { @q[i] = v }
|
75
|
+
end
|
76
|
+
|
77
|
+
def coerce(v)
|
78
|
+
case v
|
79
|
+
when Numeric then return Scalar.new(v), self
|
80
|
+
else raise TypeError, "#{self.class} can't be coerced into #{v.class}"
|
81
|
+
end
|
82
|
+
end
|
83
|
+
|
84
|
+
def conjugate
|
85
|
+
self.class.new(w, -x, -y, -z)
|
86
|
+
end
|
87
|
+
|
88
|
+
def conjugate!
|
89
|
+
@q = w, -x, -y, -z
|
90
|
+
self
|
91
|
+
end
|
92
|
+
|
93
|
+
#Warning: standard notation.
|
94
|
+
def cross_product(q)
|
95
|
+
self.class.new(
|
96
|
+
w * q.w - x * q.x - y * q.y - z * q.z,
|
97
|
+
w * q.x + x * q.w + y * q.z - z * q.y,
|
98
|
+
w * q.y - x * q.z + y * q.w + z * q.x,
|
99
|
+
w * q.z + x * q.y - y * q.x + z * q.w)
|
100
|
+
end
|
101
|
+
|
102
|
+
def difference(q)
|
103
|
+
q * inverse
|
104
|
+
end
|
105
|
+
|
106
|
+
def dot_product(q)
|
107
|
+
w * q.w + x * q.x + y * q.y + z * q.z
|
108
|
+
end
|
109
|
+
|
110
|
+
def dup
|
111
|
+
self.class.new(*@q)
|
112
|
+
end
|
113
|
+
|
114
|
+
def exp
|
115
|
+
a = Math.sqrt(x*x + y*y + z*z)
|
116
|
+
ew = Math.exp(w)
|
117
|
+
s = ew * Math.sin(a) / a
|
118
|
+
self.class.new(ew * Math.cos(a), x * s, y * s, z * s)
|
119
|
+
end
|
120
|
+
|
121
|
+
def imaginary
|
122
|
+
[x, y, z]
|
123
|
+
end
|
124
|
+
|
125
|
+
def inspect
|
126
|
+
"Quaternion[#{w}, #{x}, #{y}, #{z}]"
|
127
|
+
end
|
128
|
+
|
129
|
+
def inverse
|
130
|
+
conjugate / norm
|
131
|
+
end
|
132
|
+
|
133
|
+
def log
|
134
|
+
nv = x*x + y*y + z*z
|
135
|
+
nq = Math.sqrt(w*w + nv)
|
136
|
+
s = Math.acos(w/nq) / Math.sqrt(nv)
|
137
|
+
self.class.new(Math.log(nq), x * s, y * s, z * s)
|
138
|
+
end
|
139
|
+
|
140
|
+
def norm
|
141
|
+
Math.sqrt(squared_norm)
|
142
|
+
end
|
143
|
+
|
144
|
+
def normalize
|
145
|
+
self / norm
|
146
|
+
end
|
147
|
+
|
148
|
+
def normalize!
|
149
|
+
i = 1.0 / norm
|
150
|
+
@q.map! { |e| e * i }
|
151
|
+
self
|
152
|
+
end
|
153
|
+
|
154
|
+
def power(p)
|
155
|
+
(log*p).exp
|
156
|
+
end
|
157
|
+
|
158
|
+
def real
|
159
|
+
w
|
160
|
+
end
|
161
|
+
|
162
|
+
def rotate(v3)
|
163
|
+
Vector3[*(self * Quaternion[0.0, *v3] * inverse).to_a[1..-1]]
|
164
|
+
end
|
165
|
+
|
166
|
+
def squared_norm
|
167
|
+
w * w + x * x + y * y + z * z
|
168
|
+
end
|
169
|
+
|
170
|
+
def to_a
|
171
|
+
@q.dup
|
172
|
+
end
|
173
|
+
|
174
|
+
def to_s(notation = nil)
|
175
|
+
case notation
|
176
|
+
when :scalar_vector
|
177
|
+
"(#{w}, [#{x}, #{y}, #{z}])"
|
178
|
+
when :vertical
|
179
|
+
"w=#{w}\nx=#{x}\ny=#{y}\nz=#{z}"
|
180
|
+
when :angle_axis
|
181
|
+
else
|
182
|
+
"Quaternion[w=#{w}, x=#{x}, y=#{y}, z=#{z}]"
|
183
|
+
end
|
184
|
+
end
|
185
|
+
|
186
|
+
def to_matrix
|
187
|
+
xx = 2 * x * x
|
188
|
+
yy = 2 * y * y
|
189
|
+
zz = 2 * z * z
|
190
|
+
xy = 2 * x * y
|
191
|
+
wz = 2 * w * z
|
192
|
+
xz = 2 * x * z
|
193
|
+
wy = 2 * w * y
|
194
|
+
yz = 2 * y * z
|
195
|
+
wx = 2 * w * x
|
196
|
+
|
197
|
+
Matrix4[1 - yy - zz, xy - wz, xz + wy, 0,
|
198
|
+
xy + wz, 1 - xx - zz, yz - wx, 0,
|
199
|
+
xz - wy, yz + wx, 1 - xx - yy, 0,
|
200
|
+
0, 0, 0, 1]
|
201
|
+
end
|
202
|
+
|
203
|
+
alias_method :conj, :conjugate
|
204
|
+
alias_method :conj!, :conjugate
|
205
|
+
alias_method :cross, :cross_product
|
206
|
+
alias_method :dot, :dot_product
|
207
|
+
alias_method :im, :imaginary
|
208
|
+
alias_method :imag, :imaginary
|
209
|
+
alias_method :inv, :inverse
|
210
|
+
alias_method :re, :real
|
211
|
+
end
|
212
|
+
end
|