quaternion 0.1.0 → 0.1.1

checksums.yaml

@@ -1,7 +1,7 @@
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data/lib/quaternion/version.rb

@@ -1,3 +1,3 @@
 class Quaternion
-  VERSION = "0.1.0" # :nodoc:
+  VERSION = "0.1.1" # :nodoc:
 end

data/lib/quaternion.rb

@@ -9,6 +9,24 @@ require "#{root_dir}/lib/quaternion/numeric"
 class Quaternion
   include Math
 
+  ##
+  # Returns an instance of Quaternion for rotateion aroud +axis+ with angle
+  # +theta+.
+  #   qrot = Quaternion.rotation([1.0, 1.0, 1.0], PI/2.0)
+  def self.rotation axis, theta
+    case axis
+    when Array
+      axis = Vector.elements(axis, true)
+      axis = axis.normalize
+    when Vector
+      axis = axis.normalize
+    else
+      raise ArgumentError, "Invalid type"
+    end
+
+    return Quaternion.new(cos(theta/2.0), axis*sin(theta/2.0))
+  end
+
   ##
   # Returns an instance of Quaternion.
   # The following code instanciate a quaternion of
@@ -221,5 +239,35 @@ class Quaternion
     return "Quaternion(#{@w}; #{@v})"
   end
   alias to_s inspect
+
+  ##
+  # Rotates a point +v+. This method does not check if the quaternion's norm is
+  # 1 or not.
+  #   qrot = Quaternion.rotation([1.0, 1.0, 1.0], PI/2.0)
+  #   qrot.rotate([1.0, 0.0, 0.0]) # =>[0.3333333333333334, 0.9106836025229592, -0.24401693585629253]
+  def rotate v
+    q_v = Quaternion.new(0.0, v)
+
+    res = self*q_v*(self.conjugate)
+
+    case v
+    when Array
+      return res[:v].to_a
+    when Vector
+      return res[:v]
+    end
+  end
+
+  private
+  def to_vector v
+    case v
+    when Array
+      Vector.elements(v, true)
+    when Vector
+      v.clone
+    else
+      raise ArgumentError, "Fail to convert to Vector"
+    end
+  end
 end
 

data/quaternion.gemspec

@@ -10,7 +10,7 @@ Gem::Specification.new do |spec|
 
   spec.summary       = %q{Quaternion class}
   #spec.description   = %q{TODO: Write a longer description or delete this line.}
-  #spec.homepage      = "TODO: Put your gem's website or public repo URL here."
+  spec.homepage      = "https://github.com/tanahiro/quaternion"
   spec.license       = "MIT"
 
   spec.files         = `git ls-files -z`.split("\x0").reject { |f| f.match(%r{^(test|spec|features)/}) }
@@ -18,10 +18,6 @@ Gem::Specification.new do |spec|
   spec.executables   = spec.files.grep(%r{^exe/}) { |f| File.basename(f) }
   spec.require_paths = ["lib"]
 
-  #if spec.respond_to?(:metadata)
-  #  spec.metadata['allowed_push_host'] = "TODO: Set to 'http://mygemserver.com' to prevent pushes to rubygems.org, or delete to allow pushes to any server."
-  #end
-
   spec.required_ruby_version = '>= 2.2.1'
 
   spec.add_development_dependency "bundler", "~> 1.9"

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: quaternion
 version: !ruby/object:Gem::Version
-  version: 0.1.0
+  version: 0.1.1
 platform: ruby
 authors:
 - Hiroyuki Tanaka
@@ -71,7 +71,7 @@ files:
 - lib/quaternion/numeric.rb
 - lib/quaternion/version.rb
 - quaternion.gemspec
-homepage: 
+homepage: https://github.com/tanahiro/quaternion
 licenses:
 - MIT
 metadata: {}