gmath3D 0.2.5 → 1.0.0

data/lib/polyline.rb

@@ -1,73 +1,73 @@
-require 'gmath3D'
-
-module GMath3D
-  #
-  # Polyline represents a closed or open polyline on 3D space.
-  #
-  class Polyline < Geom
-    public
-    attr_accessor :vertices
-    attr_accessor :is_open
-
-    include BoxAvailable
-
-    # [Input]
-    #  _vertices_ should be Array of Vector3.
-    # [Output]
-    #  return new instance of Polyline.
-    def initialize(vertices = [], is_open = true)
-      Util3D.check_arg_type(Array, vertices)
-      super()
-      @vertices = vertices
-      @is_open  = is_open
-    end
-
-    def initialize_copy( original_obj )
-      @vertices = Array.new(original_obj.vertices.size)
-      for i in 0..@vertices.size-1
-        @vertices[i] = original_obj.vertices[i].dup
-      end
-      @is_open = original_obj.is_open
-    end
-
-    # [Input]
-    #  _rhs_ is Polyline.
-    # [Output]
-    #  return true if rhs equals myself.
-    def ==(rhs)
-      return false if rhs == nil
-      return false if( !rhs.kind_of?(Polyline) )
-      return false if( self.is_open != rhs.is_open )
-      return false if(@vertices.size != rhs.vertices.size)
-      for i in 0..(@vertices.size-1)
-        return false if( self.vertices[i] != rhs.vertices[i])
-      end
-      return true
-    end
-
-    def to_s
-      str = "Polyline["
-      vertices.each do |vertex|
-        str += vertex.to_element_s + ", "
-      end
-      str.slice!(str.length - 2, 2) if(vertices.size > 0)
-      str += "] "
-      str += "open" if(@is_open)
-      str += "closed" if(!@is_open)
-      return str
-    end
-
-    # [Output]
-    #  return center point as Vector3.
-    def center
-      center = Vector3.new()
-      @vertices.each do |vertex|
-        center += vertex
-      end
-      center /= @vertices.size
-      return center
-    end
-
-  end
-end
-
+require 'gmath3D'
+
+module GMath3D
+  #
+  # Polyline represents a closed or open polyline on 3D space.
+  #
+  class Polyline < Geom
+    public
+    attr_accessor :vertices
+    attr_accessor :is_open
+
+    include BoxAvailable
+
+    # [Input]
+    #  _vertices_ should be Array of Vector3.
+    # [Output]
+    #  return new instance of Polyline.
+    def initialize(vertices = [], is_open = true)
+      Util3D.check_arg_type(Array, vertices)
+      super()
+      @vertices = vertices
+      @is_open  = is_open
+    end
+
+    def initialize_copy( original_obj )
+      @vertices = Array.new(original_obj.vertices.size)
+      for i in 0..@vertices.size-1
+        @vertices[i] = original_obj.vertices[i].dup
+      end
+      @is_open = original_obj.is_open
+    end
+
+    # [Input]
+    #  _rhs_ is Polyline.
+    # [Output]
+    #  return true if rhs equals myself.
+    def ==(rhs)
+      return false if rhs == nil
+      return false if( !rhs.kind_of?(Polyline) )
+      return false if( self.is_open != rhs.is_open )
+      return false if(@vertices.size != rhs.vertices.size)
+      for i in 0..(@vertices.size-1)
+        return false if( self.vertices[i] != rhs.vertices[i])
+      end
+      return true
+    end
+
+    def to_s
+      str = "Polyline["
+      vertices.each do |vertex|
+        str += vertex.to_element_s + ", "
+      end
+      str.slice!(str.length - 2, 2) if(vertices.size > 0)
+      str += "] "
+      str += "open" if(@is_open)
+      str += "closed" if(!@is_open)
+      return str
+    end
+
+    # [Output]
+    #  return center point as Vector3.
+    def center
+      center = Vector3.new()
+      @vertices.each do |vertex|
+        center += vertex
+      end
+      center /= @vertices.size
+      return center
+    end
+
+  end
+end
+

data/lib/quat.rb

@@ -1,170 +1,170 @@
-require 'gmath3D'
-
-module GMath3D
-  #
-  # Quat represents quaternion.
-  #
-  class Quat
-public
-    attr_accessor :x
-    attr_accessor :y
-    attr_accessor :z
-    attr_accessor :w
-
-    # [Input]
-    #  _x_, _y_, _z_, _w_should be Numeric.
-    # [Output]
-    #  return new instance of Quat.
-    def initialize(x=0.0,y=0.0,z=0.0,w=0.0)
-      Util3D.check_arg_type(Numeric, x)
-      Util3D.check_arg_type(Numeric, y)
-      Util3D.check_arg_type(Numeric, z)
-      Util3D.check_arg_type(Numeric, w)
-      super()
-      @x = x
-      @y = y
-      @z = z
-      @w = w
-    end
-
-    # [Input]
-    #  _axsi_ should be Vector3 and _angle_ should be Numeric.
-    # [Output]
-    #  return new instance of Quat.
-    def self.from_axis(axis, angle)
-      Util3D.check_arg_type(Vector3, axis)
-      Util3D.check_arg_type(Numeric, angle)
-      s = Math.sin(0.5*angle)
-      x = s * axis.x
-      y = s * axis.y
-      z = s * axis.z
-      w = Math.cos(0.5*angle)
-      return Quat.new(x,y,z,w)
-    end
-
-    # [Input]
-    #  _matrix_ should be Matrix which row and column size are 3.
-    # [Output]
-    #  return new instance of Quat.
-    def self.from_matrix(mat)
-      fourWSquaredMinus1 = mat[0,0] + mat[1,1] + mat[2,2]
-      fourXSquaredMinus1 = mat[0,0] - mat[1,1] - mat[2,2]
-      fourYSquaredMinus1 = mat[1,1] - mat[0,0] - mat[2,2]
-      fourZSquaredMinus1 = mat[2,2] - mat[0,0] - mat[1,1]
-
-      biggestIndex = 0
-      fourBiggestSquaredMinus1 = fourWSquaredMinus1
-      if(fourXSquaredMinus1 > fourBiggestSquaredMinus1)
-        fourBiggestSquaredMinus1 = fourXSquaredMinus1
-        biggestIndex = 1
-      end
-      if(fourYSquaredMinus1 > fourBiggestSquaredMinus1)
-        fourBiggestSquaredMinus1 = fourYSquaredMinus1
-        biggestIndex = 2
-      end
-      if(fourZSquaredMinus1 > fourBiggestSquaredMinus1)
-        fourBiggestSquaredMinus1 = fourZSquaredMinus1
-        biggestIndex = 3
-      end
-
-      biggestVal = Math.sqrt(fourBiggestSquaredMinus1 + 1.0) * 0.5
-      multi = 0.25 / biggestVal
-
-      case biggestIndex
-      when 0
-        w = biggestVal
-        x = (mat[1,2] - mat[2,1]) *multi
-        y = (mat[2,0] - mat[0,2]) *multi
-        z = (mat[0,1] - mat[1,0]) *multi
-      when 1
-        x = biggestVal;
-        w = (mat[1,2] - mat[2,1]) *multi
-        y = (mat[0,1] + mat[1,0]) *multi
-        z = (mat[2,0] + mat[0,2]) *multi
-      when 2
-        y = biggestVal;
-        w = (mat[2,0] - mat[0,2]) *multi
-        x = (mat[0,1] + mat[1,0]) *multi
-        z = (mat[1,2] + mat[2,1]) *multi
-      when 3
-        z = biggestVal;
-        w = (mat[0,1] - mat[1,0]) *multi
-        x = (mat[2,0] + mat[0,2]) *multi
-        y = (mat[1,2] + mat[2,1]) *multi
-      end
-      return Quat.new(x,y,z,w)
-    end
-
-    def to_element_s
-      "[#{@x}, #{@y}, #{@z}, #{@w}]"
-    end
-
-    def to_s
-      "Quat" + to_element_s
-    end
-
-    # [Input]
-    #  _rhs_ should be Quat.
-    # [Output]
-    #  return true if rhs equals myself.
-    def ==(rhs)
-      return false if( !rhs.kind_of?(Quat) )
-      return false if(self.x != rhs.x)
-      return false if(self.y != rhs.y)
-      return false if(self.z != rhs.z)
-      return false if(self.w != rhs.w)
-      true
-    end
-
-    # [Output]
-    #  return conjugated Quat.
-    def conjugate
-      return Quat.new( -self.x, -self.y, -self.z, self.w)
-    end
-
-    # [Output]
-    #  return normalized result as Quat.
-    def normalize()
-      mag = Math.sqrt(self.x*self.x + self.y*self.y + self.z*self.z)
-      return Quat.new(self.x/mag, self.y/mag, self.z/mag, self.w/mag)
-    end
-
-    # [Input]
-    #  _rhs_ should be Quat.
-    # [Output]
-    #  return added result as Quat.
-    def +(rhs)
-      Util3D.check_arg_type(Quat, rhs)
-      t1 = Vector3.new(self.x, self.y, self.z)
-      t2 = Vector3.new(rhs.x, rhs.y, rhs.z)
-      dot = t1.dot(t2)
-      t3 = t2.cross(t1)
-
-      t1 *= rhs.w
-      t2 *= self.w
-
-      tf = t1 + t2 + t3
-      rtn_w = self.w * rhs.w - dot
-
-      return Quat.new(tf.x, tf.y, tf.z, rtn_w)
-    end
-
-    # [Input]
-    #  _rsh_ should be Quat.
-    # [Output]
-    #  return (outer products) multiplyed result as Quat.
-    def *(rhs)
-      Util3D.check_arg_type(Quat, rhs)
-
-      pw = self.w; px = self.x; py = self.y; pz = self.z;
-      qw = rhs.w ; qx = rhs.x ; qy = rhs.y ; qz = rhs.z;
-
-      w = pw * qw - px * qx - py * qy - pz * qz
-      x = pw * qx + px * qw + py * qz - pz * qy
-      y = pw * qy - px * qz + py * qw + pz * qx
-      z = pw * qz + px * qy - py * qx + pz * qw
-      return Quat.new( x,y,z,w )
-    end
-  end
-end
-
+require 'gmath3D'
+
+module GMath3D
+  #
+  # Quat represents quaternion.
+  #
+  class Quat
+public
+    attr_accessor :x
+    attr_accessor :y
+    attr_accessor :z
+    attr_accessor :w
+
+    # [Input]
+    #  _x_, _y_, _z_, _w_should be Numeric.
+    # [Output]
+    #  return new instance of Quat.
+    def initialize(x=0.0,y=0.0,z=0.0,w=0.0)
+      Util3D.check_arg_type(Numeric, x)
+      Util3D.check_arg_type(Numeric, y)
+      Util3D.check_arg_type(Numeric, z)
+      Util3D.check_arg_type(Numeric, w)
+      super()
+      @x = x
+      @y = y
+      @z = z
+      @w = w
+    end
+
+    # [Input]
+    #  _axsi_ should be Vector3 and _angle_ should be Numeric.
+    # [Output]
+    #  return new instance of Quat.
+    def self.from_axis(axis, angle)
+      Util3D.check_arg_type(Vector3, axis)
+      Util3D.check_arg_type(Numeric, angle)
+      s = Math.sin(0.5*angle)
+      x = s * axis.x
+      y = s * axis.y
+      z = s * axis.z
+      w = Math.cos(0.5*angle)
+      return Quat.new(x,y,z,w)
+    end
+
+    # [Input]
+    #  _matrix_ should be Matrix which row and column size are 3.
+    # [Output]
+    #  return new instance of Quat.
+    def self.from_matrix(mat)
+      fourWSquaredMinus1 = mat[0,0] + mat[1,1] + mat[2,2]
+      fourXSquaredMinus1 = mat[0,0] - mat[1,1] - mat[2,2]
+      fourYSquaredMinus1 = mat[1,1] - mat[0,0] - mat[2,2]
+      fourZSquaredMinus1 = mat[2,2] - mat[0,0] - mat[1,1]
+
+      biggestIndex = 0
+      fourBiggestSquaredMinus1 = fourWSquaredMinus1
+      if(fourXSquaredMinus1 > fourBiggestSquaredMinus1)
+        fourBiggestSquaredMinus1 = fourXSquaredMinus1
+        biggestIndex = 1
+      end
+      if(fourYSquaredMinus1 > fourBiggestSquaredMinus1)
+        fourBiggestSquaredMinus1 = fourYSquaredMinus1
+        biggestIndex = 2
+      end
+      if(fourZSquaredMinus1 > fourBiggestSquaredMinus1)
+        fourBiggestSquaredMinus1 = fourZSquaredMinus1
+        biggestIndex = 3
+      end
+
+      biggestVal = Math.sqrt(fourBiggestSquaredMinus1 + 1.0) * 0.5
+      multi = 0.25 / biggestVal
+
+      case biggestIndex
+      when 0
+        w = biggestVal
+        x = (mat[1,2] - mat[2,1]) *multi
+        y = (mat[2,0] - mat[0,2]) *multi
+        z = (mat[0,1] - mat[1,0]) *multi
+      when 1
+        x = biggestVal;
+        w = (mat[1,2] - mat[2,1]) *multi
+        y = (mat[0,1] + mat[1,0]) *multi
+        z = (mat[2,0] + mat[0,2]) *multi
+      when 2
+        y = biggestVal;
+        w = (mat[2,0] - mat[0,2]) *multi
+        x = (mat[0,1] + mat[1,0]) *multi
+        z = (mat[1,2] + mat[2,1]) *multi
+      when 3
+        z = biggestVal;
+        w = (mat[0,1] - mat[1,0]) *multi
+        x = (mat[2,0] + mat[0,2]) *multi
+        y = (mat[1,2] + mat[2,1]) *multi
+      end
+      return Quat.new(x,y,z,w)
+    end
+
+    def to_element_s
+      "[#{@x}, #{@y}, #{@z}, #{@w}]"
+    end
+
+    def to_s
+      "Quat" + to_element_s
+    end
+
+    # [Input]
+    #  _rhs_ should be Quat.
+    # [Output]
+    #  return true if rhs equals myself.
+    def ==(rhs)
+      return false if( !rhs.kind_of?(Quat) )
+      return false if(self.x != rhs.x)
+      return false if(self.y != rhs.y)
+      return false if(self.z != rhs.z)
+      return false if(self.w != rhs.w)
+      true
+    end
+
+    # [Output]
+    #  return conjugated Quat.
+    def conjugate
+      return Quat.new( -self.x, -self.y, -self.z, self.w)
+    end
+
+    # [Output]
+    #  return normalized result as Quat.
+    def normalize()
+      mag = Math.sqrt(self.x*self.x + self.y*self.y + self.z*self.z)
+      return Quat.new(self.x/mag, self.y/mag, self.z/mag, self.w/mag)
+    end
+
+    # [Input]
+    #  _rhs_ should be Quat.
+    # [Output]
+    #  return added result as Quat.
+    def +(rhs)
+      Util3D.check_arg_type(Quat, rhs)
+      t1 = Vector3.new(self.x, self.y, self.z)
+      t2 = Vector3.new(rhs.x, rhs.y, rhs.z)
+      dot = t1.dot(t2)
+      t3 = t2.cross(t1)
+
+      t1 *= rhs.w
+      t2 *= self.w
+
+      tf = t1 + t2 + t3
+      rtn_w = self.w * rhs.w - dot
+
+      return Quat.new(tf.x, tf.y, tf.z, rtn_w)
+    end
+
+    # [Input]
+    #  _rsh_ should be Quat.
+    # [Output]
+    #  return (outer products) multiplyed result as Quat.
+    def *(rhs)
+      Util3D.check_arg_type(Quat, rhs)
+
+      pw = self.w; px = self.x; py = self.y; pz = self.z;
+      qw = rhs.w ; qx = rhs.x ; qy = rhs.y ; qz = rhs.z;
+
+      w = pw * qw - px * qx - py * qy - pz * qz
+      x = pw * qx + px * qw + py * qz - pz * qy
+      y = pw * qy - px * qz + py * qw + pz * qx
+      z = pw * qz + px * qy - py * qx + pz * qw
+      return Quat.new( x,y,z,w )
+    end
+  end
+end
+