pgtools 1.0.0 → 1.0.2

data/lib/bayonetta/linalg.rb

@@ -1,416 +1,416 @@
-module Bayonetta
-
-  module Linalg
-
-    class Matrix
-      attr_reader :data
-      def initialize
-        @data = [[1.0, 0.0, 0.0, 0.0],
-                 [0.0, 1.0, 0.0, 0.0],
-                 [0.0, 0.0, 1.0, 0.0],
-                 [0.0, 0.0, 0.0, 1.0]]
-      end
-
-      def [](i)
-        @data[i]
-      end
-
-      def transpose
-        m = Matrix::new
-        4.times { |i|
-          4.times { |j|
-            m.data[i][j] = data[j][i]
-          }
-        }
-        m
-      end
-
-      def inverse
-        m = Matrix::new
-        s0 = data[0][0] * data[1][1] - data[1][0] * data[0][1]
-        s1 = data[0][0] * data[1][2] - data[1][0] * data[0][2]
-        s2 = data[0][0] * data[1][3] - data[1][0] * data[0][3]
-        s3 = data[0][1] * data[1][2] - data[1][1] * data[0][2]
-        s4 = data[0][1] * data[1][3] - data[1][1] * data[0][3]
-        s5 = data[0][2] * data[1][3] - data[1][2] * data[0][3]
-
-        c5 = data[2][2] * data[3][3] - data[3][2] * data[2][3]
-        c4 = data[2][1] * data[3][3] - data[3][1] * data[2][3]
-        c3 = data[2][1] * data[3][2] - data[3][1] * data[2][2]
-        c2 = data[2][0] * data[3][3] - data[3][0] * data[2][3]
-        c1 = data[2][0] * data[3][2] - data[3][0] * data[2][2]
-        c0 = data[2][0] * data[3][1] - data[3][0] * data[2][1]
-
-        invdet = 1.0 / (s0 * c5 - s1 * c4 + s2 * c3 + s3 * c2 - s4 * c1 + s5 * c0)
-        m.data[0][0] = ( data[1][1] * c5 - data[1][2] * c4 + data[1][3] * c3) * invdet
-        m.data[0][1] = (-data[0][1] * c5 + data[0][2] * c4 - data[0][3] * c3) * invdet
-        m.data[0][2] = ( data[3][1] * s5 - data[3][2] * s4 + data[3][3] * s3) * invdet
-        m.data[0][3] = (-data[2][1] * s5 + data[2][2] * s4 - data[2][3] * s3) * invdet
-
-        m.data[1][0] = (-data[1][0] * c5 + data[1][2] * c2 - data[1][3] * c1) * invdet
-        m.data[1][1] = ( data[0][0] * c5 - data[0][2] * c2 + data[0][3] * c1) * invdet
-        m.data[1][2] = (-data[3][0] * s5 + data[3][2] * s2 - data[3][3] * s1) * invdet
-        m.data[1][3] = ( data[2][0] * s5 - data[2][2] * s2 + data[2][3] * s1) * invdet
-
-        m.data[2][0] = ( data[1][0] * c4 - data[1][1] * c2 + data[1][3] * c0) * invdet
-        m.data[2][1] = (-data[0][0] * c4 + data[0][1] * c2 - data[0][3] * c0) * invdet
-        m.data[2][2] = ( data[3][0] * s4 - data[3][1] * s2 + data[3][3] * s0) * invdet
-        m.data[2][3] = (-data[2][0] * s4 + data[2][1] * s2 - data[2][3] * s0) * invdet
-
-        m.data[3][0] = (-data[1][0] * c3 + data[1][1] * c1 - data[1][2] * c0) * invdet
-        m.data[3][1] = ( data[0][0] * c3 - data[0][1] * c1 + data[0][2] * c0) * invdet
-        m.data[3][2] = (-data[3][0] * s3 + data[3][1] * s1 - data[3][2] * s0) * invdet
-        m.data[3][3] = ( data[2][0] * s3 - data[2][1] * s1 + data[2][2] * s0) * invdet
-        m
-      end
-
-      def +(other)
-        if other.kind_of?(Matrix)
-          m = Matrix::new
-          4.times { |i|
-            4.times { |j|
-              m.data[i][j] = data[i][j] + other.data[i][j]
-            }
-          }
-          return m
-        else
-          raise "Invalid argument for matrix add: #{other.inspect}!"
-        end
-      end
-
-      def *(other)
-        if other.kind_of?(Matrix)
-          m = Matrix::new
-          4.times { |i|
-            4.times { |j|
-              m.data[i][j] = 0.0
-              4.times { |k|
-                m.data[i][j] += data[i][k] * other.data[k][j]
-              }
-            }
-          }
-          return m
-        elsif other.kind_of?(Vector) || (other.kind_of?(Array) && other.length == 4)
-          return Vector::new(
-            @data[0][0] * other[0] + @data[0][1] * other[1] + @data[0][2] * other[2] + @data[0][3] * other[3],
-            @data[1][0] * other[0] + @data[1][1] * other[1] + @data[1][2] * other[2] + @data[1][3] * other[3],
-            @data[2][0] * other[0] + @data[2][1] * other[1] + @data[2][2] * other[2] + @data[2][3] * other[3],
-            @data[3][0] * other[0] + @data[3][1] * other[1] + @data[3][2] * other[2] + @data[3][3] * other[3]
-          )
-        elsif other.kind_of?(Numeric)
-          m = Matrix::new
-          4.times { |i|
-            4.times { |j|
-              m.data[i][j] = data[i][j] * other
-            }
-          }
-          return m
-        else
-          raise "Invalid argument for matrix miltiply: #{other.inspect}!"
-        end
-      end
-    end #Matrix
-
-    class Vector
-
-      def initialize(x=0.0, y=0.0, z=0.0, w=1.0)
-        @data = [x, y, z, w]
-      end
-
-      def [](i)
-        return @data[i]
-      end
-
-      def []=(i,v)
-        return @data[i]=v
-      end
-
-      def dup
-        self.class::new(x,y,z,w)
-      end
-
-      def x
-        @data[0]      
-      end
-
-      def x=(v)
-        @data[0] = v
-      end
-
-      def y
-        @data[1]
-      end
-
-      def y=(v)
-        @data[1] = v
-      end
-
-      def z
-        @data[2]
-      end
-
-      def z=(v)
-        @data[2]=v
-      end
-
-      def w
-        @data[3]
-      end
-
-      def w=(v)
-        @data[3] = v
-      end
-
-      def -(other)
-        Vector::new(x-other.x, y-other.y, z-other.z, w)
-      end
-
-      def +(other)
-        Vector::new(x+other.x, y+other.y, z+other.z, w)
-      end
-
-      def *(scalar)
-        Vector::new(x*scalar, y*scalar, z*scalar, w)
-      end
-
-      def dot(other)
-        x*other.x + y*other.y + z*other.z
-      end
-
-      def -@
-        self.class::new(-x, -y, -z, w)
-      end
-
-      def length
-        Math.sqrt(x*x + y*y + z*z)
-      end
-
-      def normalize!
-        l = length
-        if l != 0.0 && ! l.nan?
-          @data[0] /= l
-          @data[1] /= l
-          @data[2] /= l
-        else
-          @data[0] = 0.0
-          @data[1] = 0.0
-          @data[2] = 0.0
-        end
-        self
-      end
-
-      def normalize
-        self.dup.normalize!
-      end
-
-    end #Vector
-
-    def self.get_translation_vector(*args)
-      if args.length == 1
-        v = args.first.dup
-      elsif args.length == 3
-        v = Vector::new(*args)
-      else
-        raise "Invalid translation arguments: #{args.inspect}!"
-      end
-      v
-    end
-
-    def self.get_translation_matrix(*args)
-      m = get_unit_matrix
-      v = get_translation_vector(*args)
-      m.data[0][3] = v[0]
-      m.data[1][3] = v[1]
-      m.data[2][3] = v[2]
-      m
-    end
-
-    def self.get_inverse_translation_matrix(*args)
-      m = get_unit_matrix
-      v = get_translation_vector(*args)
-      m.data[0][3] = -v[0]
-      m.data[1][3] = -v[1]
-      m.data[2][3] = -v[2]
-      m
-    end
-
-    def self.get_scaling_vector(*args)
-      if args.length == 1
-        v = args.first.dup
-      elsif args.length == 3
-        v = Vector::new(*args)
-      else
-        raise "Invalid translation arguments: #{args.inspect}!"
-      end
-      v
-    end
-
-    def self.get_scaling_matrix(*args)
-      m = get_unit_matrix
-      v = get_scaling_vector(*args)
-      m.data[0][0] = v[0]
-      m.data[1][1] = v[1]
-      m.data[2][2] = v[2]
-      m
-    end
-
-    def self.get_inverse_scaling_matrix(*args)
-      m = get_unit_matrix
-      v = get_scaling_vector(*args)
-      m.data[0][0] = 1.0/v[0]
-      m.data[1][1] = 1.0/v[1]
-      m.data[2][2] = 1.0/v[2]
-      m
-    end
-
-    def self.get_rotation_vector(*args)
-      if args.length == 1
-        v = args.first.dup
-      elsif args.length == 3
-        v = Vector::new(*args)
-      else
-        raise "Invalid translation arguments: #{args.inspect}!"
-      end
-      v
-    end
-
-    def self.get_rotation_matrix(*args, center: nil, order: nil)
-      v = get_rotation_vector(*args)
-      if center
-        vt = get_translation_vector(*[center].flatten)
-        mt1 = get_translation_matrix(-vt)
-        mt2 = get_translation_matrix(vt)
-      else
-        mt1 = get_unit_matrix
-        mt2 = get_unit_matrix
-      end
-      m = mt2
-      if order
-        case order
-        when 0
-          m = m * rotation_matrix( v[0], Vector::new(1.0, 0.0, 0.0))
-          m = m * rotation_matrix( v[1], Vector::new(0.0, 1.0, 0.0))
-          m = m * rotation_matrix( v[2], Vector::new(0.0, 0.0, 1.0))
-        when 1
-          m = m * rotation_matrix( v[0], Vector::new(1.0, 0.0, 0.0))
-          m = m * rotation_matrix( v[2], Vector::new(0.0, 0.0, 1.0))
-          m = m * rotation_matrix( v[1], Vector::new(0.0, 1.0, 0.0))
-        when 2
-          m = m * rotation_matrix( v[1], Vector::new(0.0, 1.0, 0.0))
-          m = m * rotation_matrix( v[0], Vector::new(1.0, 0.0, 0.0))
-          m = m * rotation_matrix( v[2], Vector::new(0.0, 0.0, 1.0))
-        when 3
-          m = m * rotation_matrix( v[1], Vector::new(0.0, 1.0, 0.0))
-          m = m * rotation_matrix( v[2], Vector::new(0.0, 0.0, 1.0))
-          m = m * rotation_matrix( v[0], Vector::new(1.0, 0.0, 0.0))
-        when 4
-          m = m * rotation_matrix( v[2], Vector::new(0.0, 0.0, 1.0))
-          m = m * rotation_matrix( v[0], Vector::new(1.0, 0.0, 0.0))
-          m = m * rotation_matrix( v[1], Vector::new(0.0, 1.0, 0.0))
-        else
-          m = m * rotation_matrix( v[2], Vector::new(0.0, 0.0, 1.0))
-          m = m * rotation_matrix( v[1], Vector::new(0.0, 1.0, 0.0))
-          m = m * rotation_matrix( v[0], Vector::new(1.0, 0.0, 0.0))
-        end
-      else
-        m = m * rotation_matrix( v[2], Vector::new(0.0, 0.0, 1.0))
-        m = m * rotation_matrix( v[1], Vector::new(0.0, 1.0, 0.0))
-        m = m * rotation_matrix( v[0], Vector::new(1.0, 0.0, 0.0))
-      end
-      m = m * mt1
-      m
-    end
-
-    def self.get_inverse_rotation_matrix(*args, center: nil, order: nil)
-      v = get_rotation_vector(*args)
-      if center
-        vt = get_translation_vector(*[center].flatten)
-        mt1 = get_translation_matrix(-vt)
-        mt2 = get_translation_matrix(vt)
-      else
-        mt1 = get_unit_matrix
-        mt2 = get_unit_matrix
-      end
-      m = mt2
-      if order
-        case order
-        when 0
-          m = m * rotation_matrix( -v[2], Vector::new(0.0, 0.0, 1.0))
-          m = m * rotation_matrix( -v[1], Vector::new(0.0, 1.0, 0.0))
-          m = m * rotation_matrix( -v[0], Vector::new(1.0, 0.0, 0.0))
-        when 1
-          m = m * rotation_matrix( -v[1], Vector::new(0.0, 1.0, 0.0))
-          m = m * rotation_matrix( -v[2], Vector::new(0.0, 0.0, 1.0))
-          m = m * rotation_matrix( -v[0], Vector::new(1.0, 0.0, 0.0))
-        when 2
-          m = m * rotation_matrix( -v[2], Vector::new(0.0, 0.0, 1.0))
-          m = m * rotation_matrix( -v[0], Vector::new(1.0, 0.0, 0.0))
-          m = m * rotation_matrix( -v[1], Vector::new(0.0, 1.0, 0.0))
-        when 3
-          m = m * rotation_matrix( -v[0], Vector::new(1.0, 0.0, 0.0))
-          m = m * rotation_matrix( -v[2], Vector::new(0.0, 0.0, 1.0))
-          m = m * rotation_matrix( -v[1], Vector::new(0.0, 1.0, 0.0))
-        when 4
-          m = m * rotation_matrix( -v[1], Vector::new(0.0, 1.0, 0.0))
-          m = m * rotation_matrix( -v[0], Vector::new(1.0, 0.0, 0.0))
-          m = m * rotation_matrix( -v[2], Vector::new(0.0, 0.0, 1.0))
-        else
-          m = m * rotation_matrix( -v[0], Vector::new(1.0, 0.0, 0.0))
-          m = m * rotation_matrix( -v[1], Vector::new(0.0, 1.0, 0.0))
-          m = m * rotation_matrix( -v[2], Vector::new(0.0, 0.0, 1.0))
-        end
-      else
-        m = m * rotation_matrix( -v[0], Vector::new(1.0, 0.0, 0.0))
-        m = m * rotation_matrix( -v[1], Vector::new(0.0, 1.0, 0.0))
-        m = m * rotation_matrix( -v[2], Vector::new(0.0, 0.0, 1.0))
-      end
-      m = m * mt1
-      m
-    end
-
-    def self.get_unit_matrix
-      Matrix::new
-    end
-
-    def self.get_zero_matrix
-      Matrix::new * 0.0
-    end
-
-    def self.get_transformation_matrix(translate, rotate, scale, parent_scale, order: nil)
-      get_translation_matrix(translate) *
-      get_inverse_scaling_matrix(parent_scale) *
-      get_rotation_matrix(rotate, order: order) *
-      get_scaling_matrix(scale)
-    end
-
-    def self.get_inverse_transformation_matrix(translate, rotate, scale, parent_scale, order: nil)
-      get_inverse_scaling_matrix(scale) *
-      get_inverse_rotation_matrix(rotate, order: order) *
-      get_scaling_matrix(parent_scale) *
-      get_inverse_translation_matrix(translate)
-    end
-
-    private
-
-    # https://en.wikipedia.org/wiki/Rotation_matrix#Axis_and_angle
-    def self.rotation_matrix(angle, vector)
-      v = vector.normalize
-      x = v[0]
-      y = v[1]
-      z = v[2]
-      c = Math::cos(angle)
-      d = 1 - c
-      s = Math::sin(angle)
-
-      m = Matrix::new
-
-      m.data.replace( [ [ x*x*d + c,   x*y*d - z*s, x*z*d + y*s, 0.0],
-                        [ y*x*d + z*s, y*y*d + c,   y*z*d - x*s, 0.0],
-                        [ z*x*d - y*s, z*y*d + x*s, z*z*d + c,   0.0],
-                        [ 0.0,         0.0,         0.0,         1.0] ] ) 
-      m
-    end
-
-  end #Linalg
-
-end #Bayonetta
+module Bayonetta
+
+  module Linalg
+
+    class Matrix
+      attr_reader :data
+      def initialize
+        @data = [[1.0, 0.0, 0.0, 0.0],
+                 [0.0, 1.0, 0.0, 0.0],
+                 [0.0, 0.0, 1.0, 0.0],
+                 [0.0, 0.0, 0.0, 1.0]]
+      end
+
+      def [](i)
+        @data[i]
+      end
+
+      def transpose
+        m = Matrix::new
+        4.times { |i|
+          4.times { |j|
+            m.data[i][j] = data[j][i]
+          }
+        }
+        m
+      end
+
+      def inverse
+        m = Matrix::new
+        s0 = data[0][0] * data[1][1] - data[1][0] * data[0][1]
+        s1 = data[0][0] * data[1][2] - data[1][0] * data[0][2]
+        s2 = data[0][0] * data[1][3] - data[1][0] * data[0][3]
+        s3 = data[0][1] * data[1][2] - data[1][1] * data[0][2]
+        s4 = data[0][1] * data[1][3] - data[1][1] * data[0][3]
+        s5 = data[0][2] * data[1][3] - data[1][2] * data[0][3]
+
+        c5 = data[2][2] * data[3][3] - data[3][2] * data[2][3]
+        c4 = data[2][1] * data[3][3] - data[3][1] * data[2][3]
+        c3 = data[2][1] * data[3][2] - data[3][1] * data[2][2]
+        c2 = data[2][0] * data[3][3] - data[3][0] * data[2][3]
+        c1 = data[2][0] * data[3][2] - data[3][0] * data[2][2]
+        c0 = data[2][0] * data[3][1] - data[3][0] * data[2][1]
+
+        invdet = 1.0 / (s0 * c5 - s1 * c4 + s2 * c3 + s3 * c2 - s4 * c1 + s5 * c0)
+        m.data[0][0] = ( data[1][1] * c5 - data[1][2] * c4 + data[1][3] * c3) * invdet
+        m.data[0][1] = (-data[0][1] * c5 + data[0][2] * c4 - data[0][3] * c3) * invdet
+        m.data[0][2] = ( data[3][1] * s5 - data[3][2] * s4 + data[3][3] * s3) * invdet
+        m.data[0][3] = (-data[2][1] * s5 + data[2][2] * s4 - data[2][3] * s3) * invdet
+
+        m.data[1][0] = (-data[1][0] * c5 + data[1][2] * c2 - data[1][3] * c1) * invdet
+        m.data[1][1] = ( data[0][0] * c5 - data[0][2] * c2 + data[0][3] * c1) * invdet
+        m.data[1][2] = (-data[3][0] * s5 + data[3][2] * s2 - data[3][3] * s1) * invdet
+        m.data[1][3] = ( data[2][0] * s5 - data[2][2] * s2 + data[2][3] * s1) * invdet
+
+        m.data[2][0] = ( data[1][0] * c4 - data[1][1] * c2 + data[1][3] * c0) * invdet
+        m.data[2][1] = (-data[0][0] * c4 + data[0][1] * c2 - data[0][3] * c0) * invdet
+        m.data[2][2] = ( data[3][0] * s4 - data[3][1] * s2 + data[3][3] * s0) * invdet
+        m.data[2][3] = (-data[2][0] * s4 + data[2][1] * s2 - data[2][3] * s0) * invdet
+
+        m.data[3][0] = (-data[1][0] * c3 + data[1][1] * c1 - data[1][2] * c0) * invdet
+        m.data[3][1] = ( data[0][0] * c3 - data[0][1] * c1 + data[0][2] * c0) * invdet
+        m.data[3][2] = (-data[3][0] * s3 + data[3][1] * s1 - data[3][2] * s0) * invdet
+        m.data[3][3] = ( data[2][0] * s3 - data[2][1] * s1 + data[2][2] * s0) * invdet
+        m
+      end
+
+      def +(other)
+        if other.kind_of?(Matrix)
+          m = Matrix::new
+          4.times { |i|
+            4.times { |j|
+              m.data[i][j] = data[i][j] + other.data[i][j]
+            }
+          }
+          return m
+        else
+          raise "Invalid argument for matrix add: #{other.inspect}!"
+        end
+      end
+
+      def *(other)
+        if other.kind_of?(Matrix)
+          m = Matrix::new
+          4.times { |i|
+            4.times { |j|
+              m.data[i][j] = 0.0
+              4.times { |k|
+                m.data[i][j] += data[i][k] * other.data[k][j]
+              }
+            }
+          }
+          return m
+        elsif other.kind_of?(Vector) || (other.kind_of?(Array) && other.length == 4)
+          return Vector::new(
+            @data[0][0] * other[0] + @data[0][1] * other[1] + @data[0][2] * other[2] + @data[0][3] * other[3],
+            @data[1][0] * other[0] + @data[1][1] * other[1] + @data[1][2] * other[2] + @data[1][3] * other[3],
+            @data[2][0] * other[0] + @data[2][1] * other[1] + @data[2][2] * other[2] + @data[2][3] * other[3],
+            @data[3][0] * other[0] + @data[3][1] * other[1] + @data[3][2] * other[2] + @data[3][3] * other[3]
+          )
+        elsif other.kind_of?(Numeric)
+          m = Matrix::new
+          4.times { |i|
+            4.times { |j|
+              m.data[i][j] = data[i][j] * other
+            }
+          }
+          return m
+        else
+          raise "Invalid argument for matrix miltiply: #{other.inspect}!"
+        end
+      end
+    end #Matrix
+
+    class Vector
+
+      def initialize(x=0.0, y=0.0, z=0.0, w=1.0)
+        @data = [x, y, z, w]
+      end
+
+      def [](i)
+        return @data[i]
+      end
+
+      def []=(i,v)
+        return @data[i]=v
+      end
+
+      def dup
+        self.class::new(x,y,z,w)
+      end
+
+      def x
+        @data[0]      
+      end
+
+      def x=(v)
+        @data[0] = v
+      end
+
+      def y
+        @data[1]
+      end
+
+      def y=(v)
+        @data[1] = v
+      end
+
+      def z
+        @data[2]
+      end
+
+      def z=(v)
+        @data[2]=v
+      end
+
+      def w
+        @data[3]
+      end
+
+      def w=(v)
+        @data[3] = v
+      end
+
+      def -(other)
+        Vector::new(x-other.x, y-other.y, z-other.z, w)
+      end
+
+      def +(other)
+        Vector::new(x+other.x, y+other.y, z+other.z, w)
+      end
+
+      def *(scalar)
+        Vector::new(x*scalar, y*scalar, z*scalar, w)
+      end
+
+      def dot(other)
+        x*other.x + y*other.y + z*other.z
+      end
+
+      def -@
+        self.class::new(-x, -y, -z, w)
+      end
+
+      def length
+        Math.sqrt(x*x + y*y + z*z)
+      end
+
+      def normalize!
+        l = length
+        if l != 0.0 && ! l.nan?
+          @data[0] /= l
+          @data[1] /= l
+          @data[2] /= l
+        else
+          @data[0] = 0.0
+          @data[1] = 0.0
+          @data[2] = 0.0
+        end
+        self
+      end
+
+      def normalize
+        self.dup.normalize!
+      end
+
+    end #Vector
+
+    def self.get_translation_vector(*args)
+      if args.length == 1
+        v = args.first.dup
+      elsif args.length == 3
+        v = Vector::new(*args)
+      else
+        raise "Invalid translation arguments: #{args.inspect}!"
+      end
+      v
+    end
+
+    def self.get_translation_matrix(*args)
+      m = get_unit_matrix
+      v = get_translation_vector(*args)
+      m.data[0][3] = v[0]
+      m.data[1][3] = v[1]
+      m.data[2][3] = v[2]
+      m
+    end
+
+    def self.get_inverse_translation_matrix(*args)
+      m = get_unit_matrix
+      v = get_translation_vector(*args)
+      m.data[0][3] = -v[0]
+      m.data[1][3] = -v[1]
+      m.data[2][3] = -v[2]
+      m
+    end
+
+    def self.get_scaling_vector(*args)
+      if args.length == 1
+        v = args.first.dup
+      elsif args.length == 3
+        v = Vector::new(*args)
+      else
+        raise "Invalid translation arguments: #{args.inspect}!"
+      end
+      v
+    end
+
+    def self.get_scaling_matrix(*args)
+      m = get_unit_matrix
+      v = get_scaling_vector(*args)
+      m.data[0][0] = v[0]
+      m.data[1][1] = v[1]
+      m.data[2][2] = v[2]
+      m
+    end
+
+    def self.get_inverse_scaling_matrix(*args)
+      m = get_unit_matrix
+      v = get_scaling_vector(*args)
+      m.data[0][0] = 1.0/v[0]
+      m.data[1][1] = 1.0/v[1]
+      m.data[2][2] = 1.0/v[2]
+      m
+    end
+
+    def self.get_rotation_vector(*args)
+      if args.length == 1
+        v = args.first.dup
+      elsif args.length == 3
+        v = Vector::new(*args)
+      else
+        raise "Invalid translation arguments: #{args.inspect}!"
+      end
+      v
+    end
+
+    def self.get_rotation_matrix(*args, center: nil, order: nil)
+      v = get_rotation_vector(*args)
+      if center
+        vt = get_translation_vector(*[center].flatten)
+        mt1 = get_translation_matrix(-vt)
+        mt2 = get_translation_matrix(vt)
+      else
+        mt1 = get_unit_matrix
+        mt2 = get_unit_matrix
+      end
+      m = mt2
+      if order
+        case order
+        when 0
+          m = m * rotation_matrix( v[0], Vector::new(1.0, 0.0, 0.0))
+          m = m * rotation_matrix( v[1], Vector::new(0.0, 1.0, 0.0))
+          m = m * rotation_matrix( v[2], Vector::new(0.0, 0.0, 1.0))
+        when 1
+          m = m * rotation_matrix( v[0], Vector::new(1.0, 0.0, 0.0))
+          m = m * rotation_matrix( v[2], Vector::new(0.0, 0.0, 1.0))
+          m = m * rotation_matrix( v[1], Vector::new(0.0, 1.0, 0.0))
+        when 2
+          m = m * rotation_matrix( v[1], Vector::new(0.0, 1.0, 0.0))
+          m = m * rotation_matrix( v[0], Vector::new(1.0, 0.0, 0.0))
+          m = m * rotation_matrix( v[2], Vector::new(0.0, 0.0, 1.0))
+        when 3
+          m = m * rotation_matrix( v[1], Vector::new(0.0, 1.0, 0.0))
+          m = m * rotation_matrix( v[2], Vector::new(0.0, 0.0, 1.0))
+          m = m * rotation_matrix( v[0], Vector::new(1.0, 0.0, 0.0))
+        when 4
+          m = m * rotation_matrix( v[2], Vector::new(0.0, 0.0, 1.0))
+          m = m * rotation_matrix( v[0], Vector::new(1.0, 0.0, 0.0))
+          m = m * rotation_matrix( v[1], Vector::new(0.0, 1.0, 0.0))
+        else
+          m = m * rotation_matrix( v[2], Vector::new(0.0, 0.0, 1.0))
+          m = m * rotation_matrix( v[1], Vector::new(0.0, 1.0, 0.0))
+          m = m * rotation_matrix( v[0], Vector::new(1.0, 0.0, 0.0))
+        end
+      else
+        m = m * rotation_matrix( v[2], Vector::new(0.0, 0.0, 1.0))
+        m = m * rotation_matrix( v[1], Vector::new(0.0, 1.0, 0.0))
+        m = m * rotation_matrix( v[0], Vector::new(1.0, 0.0, 0.0))
+      end
+      m = m * mt1
+      m
+    end
+
+    def self.get_inverse_rotation_matrix(*args, center: nil, order: nil)
+      v = get_rotation_vector(*args)
+      if center
+        vt = get_translation_vector(*[center].flatten)
+        mt1 = get_translation_matrix(-vt)
+        mt2 = get_translation_matrix(vt)
+      else
+        mt1 = get_unit_matrix
+        mt2 = get_unit_matrix
+      end
+      m = mt2
+      if order
+        case order
+        when 0
+          m = m * rotation_matrix( -v[2], Vector::new(0.0, 0.0, 1.0))
+          m = m * rotation_matrix( -v[1], Vector::new(0.0, 1.0, 0.0))
+          m = m * rotation_matrix( -v[0], Vector::new(1.0, 0.0, 0.0))
+        when 1
+          m = m * rotation_matrix( -v[1], Vector::new(0.0, 1.0, 0.0))
+          m = m * rotation_matrix( -v[2], Vector::new(0.0, 0.0, 1.0))
+          m = m * rotation_matrix( -v[0], Vector::new(1.0, 0.0, 0.0))
+        when 2
+          m = m * rotation_matrix( -v[2], Vector::new(0.0, 0.0, 1.0))
+          m = m * rotation_matrix( -v[0], Vector::new(1.0, 0.0, 0.0))
+          m = m * rotation_matrix( -v[1], Vector::new(0.0, 1.0, 0.0))
+        when 3
+          m = m * rotation_matrix( -v[0], Vector::new(1.0, 0.0, 0.0))
+          m = m * rotation_matrix( -v[2], Vector::new(0.0, 0.0, 1.0))
+          m = m * rotation_matrix( -v[1], Vector::new(0.0, 1.0, 0.0))
+        when 4
+          m = m * rotation_matrix( -v[1], Vector::new(0.0, 1.0, 0.0))
+          m = m * rotation_matrix( -v[0], Vector::new(1.0, 0.0, 0.0))
+          m = m * rotation_matrix( -v[2], Vector::new(0.0, 0.0, 1.0))
+        else
+          m = m * rotation_matrix( -v[0], Vector::new(1.0, 0.0, 0.0))
+          m = m * rotation_matrix( -v[1], Vector::new(0.0, 1.0, 0.0))
+          m = m * rotation_matrix( -v[2], Vector::new(0.0, 0.0, 1.0))
+        end
+      else
+        m = m * rotation_matrix( -v[0], Vector::new(1.0, 0.0, 0.0))
+        m = m * rotation_matrix( -v[1], Vector::new(0.0, 1.0, 0.0))
+        m = m * rotation_matrix( -v[2], Vector::new(0.0, 0.0, 1.0))
+      end
+      m = m * mt1
+      m
+    end
+
+    def self.get_unit_matrix
+      Matrix::new
+    end
+
+    def self.get_zero_matrix
+      Matrix::new * 0.0
+    end
+
+    def self.get_transformation_matrix(translate, rotate, scale, parent_scale, order: nil)
+      get_translation_matrix(translate) *
+      get_inverse_scaling_matrix(parent_scale) *
+      get_rotation_matrix(rotate, order: order) *
+      get_scaling_matrix(scale)
+    end
+
+    def self.get_inverse_transformation_matrix(translate, rotate, scale, parent_scale, order: nil)
+      get_inverse_scaling_matrix(scale) *
+      get_inverse_rotation_matrix(rotate, order: order) *
+      get_scaling_matrix(parent_scale) *
+      get_inverse_translation_matrix(translate)
+    end
+
+    private
+
+    # https://en.wikipedia.org/wiki/Rotation_matrix#Axis_and_angle
+    def self.rotation_matrix(angle, vector)
+      v = vector.normalize
+      x = v[0]
+      y = v[1]
+      z = v[2]
+      c = Math::cos(angle)
+      d = 1 - c
+      s = Math::sin(angle)
+
+      m = Matrix::new
+
+      m.data.replace( [ [ x*x*d + c,   x*y*d - z*s, x*z*d + y*s, 0.0],
+                        [ y*x*d + z*s, y*y*d + c,   y*z*d - x*s, 0.0],
+                        [ z*x*d - y*s, z*y*d + x*s, z*z*d + c,   0.0],
+                        [ 0.0,         0.0,         0.0,         1.0] ] ) 
+      m
+    end
+
+  end #Linalg
+
+end #Bayonetta