rmath3d_plain 1.0.1
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- checksums.yaml +7 -0
- data/ChangeLog +82 -0
- data/LICENSE.txt +21 -0
- data/README.md +178 -0
- data/lib/rmath3d/rmath3d_plain.rb +3311 -0
- data/sample/opengl-bindings/load_matrix.rb +174 -0
- data/sample/opengl2/load_matrix.rb +118 -0
- data/sample/simple/transform.rb +11 -0
- data/test/test.rb +18 -0
- data/test/test_RMtx3.rb +517 -0
- data/test/test_RMtx4.rb +735 -0
- data/test/test_RQuat.rb +381 -0
- data/test/test_RVec3.rb +308 -0
- data/test/test_RVec4.rb +287 -0
- metadata +58 -0
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# require 'rmath3d/rmath3d_plain'
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require 'rmath3d/rmath3d'
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include RMath3D
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require 'glfw'
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require 'opengl'
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include GLFW
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include OpenGL
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case OpenGL.get_platform
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when :OPENGL_PLATFORM_WINDOWS
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OpenGL.load_dll('opengl32.dll', 'C:/Windows/System32')
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GLFW.load_dll('glfw3.dll', '.')
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when :OPENGL_PLATFORM_MACOSX
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OpenGL.load_dll('libGL.dylib', '/System/Library/Frameworks/OpenGL.framework/Libraries')
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GLFW.load_dll('libglfw.dylib', '.')
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else
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raise RuntimeError, "Unsupported platform."
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end
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def drawCube
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size = 1.0
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scale = 0.2
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delta = 0.1
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v = [
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[ size, size, size * scale + delta ],
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[ size, size, -size * scale + delta ],
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[ size, -size, -size * scale ],
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[ size, -size, size * scale ],
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[-size, size, size * scale + delta ],
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[-size, size, -size * scale + delta ],
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[-size, -size, -size * scale ],
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[-size, -size, size * scale ]
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]
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cube = [
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[ [1,0,0], v[3],v[2],v[1],v[0] ], # normal, vertices
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[ [-1,0,0], v[6],v[7],v[4],v[5] ],
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[ [0,0,-1], v[2],v[6],v[5],v[1] ],
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[ [0,0,1], v[7],v[3],v[0],v[4] ],
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[ [0,1,0], v[4],v[0],v[1],v[5] ],
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[ [0,-1,0], v[6],v[2],v[3],v[7] ]
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]
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glBegin(GL_QUADS)
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cube.each do |side|
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glNormal3fv(side[0].pack('F*'))
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glTexCoord2f(1,1)
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glVertex3fv(side[1].pack('F*'))
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glTexCoord2f(0,1)
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glVertex3fv(side[2].pack('F*'))
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glTexCoord2f(0,0)
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glVertex3fv(side[3].pack('F*'))
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glTexCoord2f(1,0)
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glVertex3fv(side[4].pack('F*'))
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end
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glEnd()
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end
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class App
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def draw
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glPushAttrib( GL_ALL_ATTRIB_BITS )
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glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT )
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glMatrixMode( GL_MODELVIEW )
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glLoadMatrixf( @mtxLookAt.to_a.pack('F16') )
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glLightfv( GL_LIGHT0, GL_POSITION, @light_pos.pack('F*') )
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glLightfv( GL_LIGHT0, GL_DIFFUSE, @light_diffuse.pack('F*') )
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glLightfv( GL_LIGHT0, GL_SPECULAR, @light_specular.pack('F*') )
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glLightfv( GL_LIGHT0, GL_AMBIENT, @light_ambient.pack('F*') )
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glPushMatrix()
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@mtxTeapotRotY.rotationY( @teapot_rad_y )
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glMultMatrixf( @mtxTeapotRotY.to_a.pack('F16') )
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@teapot_rad_y += 2.0*Math::PI/60.0
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glMaterialfv( GL_FRONT_AND_BACK, GL_DIFFUSE, @teapot_diffuse.pack('F*') )
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glMaterialfv( GL_FRONT_AND_BACK, GL_SPECULAR, @teapot_specular.pack('F*') )
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glMaterialfv( GL_FRONT_AND_BACK, GL_AMBIENT, @teapot_ambient.pack('F*') )
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glMaterialf( GL_FRONT_AND_BACK, GL_SHININESS, @teapot_shininess )
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drawCube() # glutSolidTeapot( 2.0 )
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glPopMatrix()
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glPopAttrib()
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end
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def key_callback( window_handle, key, scancode, action, mods )
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case key
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when GLFW_KEY_ESCAPE, GLFW_KEY_Q
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glfwSetWindowShouldClose(window_handle, 1)
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end
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end
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def size_callback( window_handle, w, h )
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glViewport( 0, 0, w, h )
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glMatrixMode( GL_PROJECTION )
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@mtxProj.perspectiveFovRH( 30.0*Math::PI/180.0, w.to_f/h.to_f, 0.1, 1000.0 )
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glLoadMatrixf( @mtxProj.to_a.pack('F16') )
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@window_width = w
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@window_height = h
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end
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def initialize
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@window_width = 320
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@window_height = 240
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@eye = RVec3.new(0.0, 15.0, 15.0)
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@at = RVec3.new(0.0, 0.0, 0.0)
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@up = RVec3.new(0.0, 1.0, 0.0)
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@mtxLookAt = RMtx4.new.lookAtRH( @eye, @at, @up )
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@mtxProj = RMtx4.new.perspectiveFovRH( 30.0*Math::PI/180.0, @window_width.to_f/@window_height.to_f, 0.1, 1000.0 )
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@light_pos = [2.5,0,5,1]
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@light_diffuse = [1,1,1,1]
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@light_specular = [1,1,1,1]
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@light_ambient = [1,1,1,1]
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@teapot_diffuse = [0.8,1,0,1]
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@teapot_specular = [1,1,1,1]
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@teapot_ambient = [0.2,0.2,0,1]
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@teapot_shininess = 32.0
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@teapot_rad_y = 0.0
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@mtxTeapotRotY = RMtx4.new.rotationY( @teapot_rad_y )
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glfwInit()
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@window_handle = glfwCreateWindow( @window_width, @window_height, self.class.to_s, nil, nil )
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glfwMakeContextCurrent( @window_handle )
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# glfwSetKeyCallback( $window_handle, $key_callback )
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glfwSetKeyCallback( @window_handle, GLFW::create_callback(:GLFWkeyfun, method(:key_callback).to_proc) )
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# glfwSetWindowSizeCallback( $window_handle, $size_callback )
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glfwSetWindowSizeCallback( @window_handle, GLFW::create_callback(:GLFWwindowsizefun, method(:size_callback).to_proc ) )
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width_ptr = ' '
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height_ptr = ' '
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glfwGetFramebufferSize(@window_handle, width_ptr, height_ptr)
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width = width_ptr.unpack('L')[0]
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height = height_ptr.unpack('L')[0]
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size_callback( @window_handle, width, height )
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# Common rendering state : reused by PushAttrib/PopAttrib
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glEnable( GL_DEPTH_TEST )
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glEnable( GL_LIGHTING )
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glEnable( GL_LIGHT0 )
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glEnable( GL_NORMALIZE )
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glClearColor( 0.0, 0.0, 0.0, 1 )
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end
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def start
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while glfwWindowShouldClose( @window_handle ) == 0
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draw()
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glfwSwapBuffers( @window_handle )
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glfwPollEvents()
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end
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glfwDestroyWindow( @window_handle )
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glfwTerminate()
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end
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end
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App.new.start
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# require 'rmath3d/rmath3d_plain'
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require 'rmath3d/rmath3d'
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include RMath3D
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require 'opengl'
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class App
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def draw
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glPushAttrib( GL_ALL_ATTRIB_BITS )
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glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT )
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glMatrixMode( GL_MODELVIEW )
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glLoadMatrix( @mtxLookAt )
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glLightfv( GL_LIGHT0, GL_POSITION, @light_pos )
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glLightfv( GL_LIGHT0, GL_DIFFUSE, @light_diffuse )
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glLightfv( GL_LIGHT0, GL_SPECULAR, @light_specular )
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glLightfv( GL_LIGHT0, GL_AMBIENT, @light_ambient )
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glPushMatrix()
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@mtxTeapotRotY.rotationY( @teapot_rad_y )
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glMultMatrix( @mtxTeapotRotY )
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@teapot_rad_y += 2.0*Math::PI/60.0
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glMaterialfv( GL_FRONT_AND_BACK, GL_DIFFUSE, @teapot_diffuse )
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glMaterialfv( GL_FRONT_AND_BACK, GL_SPECULAR, @teapot_specular )
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glMaterialfv( GL_FRONT_AND_BACK, GL_AMBIENT, @teapot_ambient )
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glMaterialf( GL_FRONT_AND_BACK, GL_SHININESS, @teapot_shininess )
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glutSolidTeapot( 2.0 )
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glPopMatrix()
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glPopAttrib()
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glutSwapBuffers()
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end
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def reshape( width, height )
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glViewport( 0, 0, width, height )
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glMatrixMode( GL_PROJECTION )
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@mtxProj.perspectiveFovRH( 30.0*Math::PI/180.0, width.to_f/height.to_f, 0.1, 1000.0 )
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glLoadMatrix( @mtxProj )
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@window_width = width
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@window_height = height
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glutPostRedisplay()
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end
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def timer( value )
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glutPostRedisplay()
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glutTimerFunc( 1000/60, method(:timer).to_proc, 0 )
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end
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def key( key, x, y )
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case key
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when ?\e, ?q
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exit
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end
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end
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def initialize
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@window_width = 320
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@window_height = 240
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@eye = RVec3.new(0.0, 15.0, 15.0)
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@at = RVec3.new(0.0, 0.0, 0.0)
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@up = RVec3.new(0.0, 1.0, 0.0)
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@mtxLookAt = RMtx4.new.lookAtRH( @eye, @at, @up )
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@mtxProj = RMtx4.new.perspectiveFovRH( 30.0*Math::PI/180.0, @window_width.to_f/@window_height.to_f, 0.1, 1000.0 )
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@light_pos = [2.5,0,5,1]
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@light_diffuse = [1,1,1,1]
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@light_specular = [1,1,1,1]
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@light_ambient = [1,1,1,1]
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@teapot_diffuse = [0.8,1,0,1]
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@teapot_specular = [1,1,1,1]
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@teapot_ambient = [0.2,0.2,0,1]
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@teapot_shininess = 32.0
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@teapot_rad_y = 0.0
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@mtxTeapotRotY = RMtx4.new.rotationY( @teapot_rad_y )
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glutInit()
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glutInitDisplayMode( GLUT_RGBA | GLUT_DEPTH | GLUT_DOUBLE )
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glutInitWindowPosition( 0, 0 )
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glutInitWindowSize( @window_width, @window_height )
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glutCreateWindow( self.class.to_s )
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glutDisplayFunc( method(:draw).to_proc )
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glutReshapeFunc( method(:reshape).to_proc )
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glutKeyboardFunc( method(:key).to_proc )
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glutTimerFunc( 0, method(:timer).to_proc, 0 )
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# Common rendering state : reused by PushAttrib/PopAttrib
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glEnable( GL_DEPTH_TEST )
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glEnable( GL_LIGHTING )
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glEnable( GL_LIGHT0 )
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glEnable( GL_NORMALIZE )
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glClearColor( 0.0, 0.0, 0.0, 1 )
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end
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def start
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glutMainLoop()
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end
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end
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App.new.start
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data/test/test.rb
ADDED
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begin
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require 'rmath3d/rmath3d'
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rescue LoadError
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require 'rmath3d/rmath3d_plain'
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end
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# require_relative '../ext/rmath3d/rmath3d'
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# require_relative '../lib/rmath3d/rmath3d_plain'
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include RMath3D
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# Test::Unit
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require 'minitest/autorun'
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# Test cases
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require_relative 'test_RVec3.rb'
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require_relative 'test_RVec4.rb'
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require_relative 'test_RQuat.rb'
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require_relative 'test_RMtx3.rb'
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require_relative 'test_RMtx4.rb'
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data/test/test_RMtx3.rb
ADDED
@@ -0,0 +1,517 @@
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class TC_RMtx3 < Minitest::Test
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def setup
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@tolerance = RMath3D::TOLERANCE
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@mZero = RMtx3.new.setZero
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@mIdentity = RMtx3.new.setIdentity
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end
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def teardown
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end
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def test_RMtx_initialize
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m0 = RMtx3.new
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for r in 0...3 do
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for c in 0...3 do
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assert_equal( 0.0, m0.getElement(r,c) )
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end
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end
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m1 = RMtx3.new( 0, 1, 2,
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3, 4, 5,
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6, 7, 8 )
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assert_equal( 0, m1.getElement(0,0) )
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assert_equal( 1, m1.getElement(0,1) )
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assert_equal( 2, m1.getElement(0,2) )
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assert_equal( 3, m1.getElement(1,0) )
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assert_equal( 4, m1.getElement(1,1) )
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28
|
+
assert_equal( 5, m1.getElement(1,2) )
|
29
|
+
assert_equal( 6, m1.getElement(2,0) )
|
30
|
+
assert_equal( 7, m1.getElement(2,1) )
|
31
|
+
assert_equal( 8, m1.getElement(2,2) )
|
32
|
+
|
33
|
+
m2 = RMtx3.new( m1 )
|
34
|
+
for r in 0...3 do
|
35
|
+
for c in 0...3 do
|
36
|
+
assert_equal( 3*r+c, m2.getElement(r,c) )
|
37
|
+
end
|
38
|
+
end
|
39
|
+
end
|
40
|
+
|
41
|
+
def test_to_s
|
42
|
+
assert_respond_to( @mZero, :to_s )
|
43
|
+
end
|
44
|
+
|
45
|
+
def test_coerce
|
46
|
+
assert_respond_to( @mZero, :coerce )
|
47
|
+
end
|
48
|
+
|
49
|
+
def test_setElements
|
50
|
+
@mZero.setElements( 0, 1, 2, 3, 4, 5, 6, 7, 8 )
|
51
|
+
for r in 0...3 do
|
52
|
+
for c in 0...3 do
|
53
|
+
assert_equal( 3*r+c, @mZero.getElement(r,c) )
|
54
|
+
end
|
55
|
+
end
|
56
|
+
end
|
57
|
+
|
58
|
+
def test_setElement
|
59
|
+
for r in 0...3 do
|
60
|
+
for c in 0...3 do
|
61
|
+
@mZero.setElement( r, c, 3*r+c )
|
62
|
+
end
|
63
|
+
end
|
64
|
+
for r in 0...3 do
|
65
|
+
for c in 0...3 do
|
66
|
+
assert_equal( 3*r+c, @mZero.getElement(r,c) )
|
67
|
+
end
|
68
|
+
end
|
69
|
+
|
70
|
+
for r in 0...3 do
|
71
|
+
for c in 0...3 do
|
72
|
+
@mZero[r, c] = 3*c+r
|
73
|
+
end
|
74
|
+
end
|
75
|
+
for r in 0...3 do
|
76
|
+
for c in 0...3 do
|
77
|
+
assert_equal( 3*c+r, @mZero[r,c] )
|
78
|
+
end
|
79
|
+
end
|
80
|
+
end
|
81
|
+
|
82
|
+
def test_getElement
|
83
|
+
assert_respond_to( @mIdentity, :getElement )
|
84
|
+
for r in 0...3 do
|
85
|
+
for c in 0...3 do
|
86
|
+
e = @mIdentity.getElement( r, c )
|
87
|
+
if ( r == c )
|
88
|
+
assert_equal( 1.0, e )
|
89
|
+
else
|
90
|
+
assert_equal( 0.0, e )
|
91
|
+
end
|
92
|
+
end
|
93
|
+
end
|
94
|
+
|
95
|
+
for r in 0...3 do
|
96
|
+
for c in 0...3 do
|
97
|
+
e = @mIdentity[ r, c ]
|
98
|
+
if ( r == c )
|
99
|
+
assert_equal( 1.0, e )
|
100
|
+
else
|
101
|
+
assert_equal( 0.0, e )
|
102
|
+
end
|
103
|
+
end
|
104
|
+
end
|
105
|
+
|
106
|
+
mtx = RMtx3.new(1,2,3,
|
107
|
+
4,5,6,
|
108
|
+
7,8,9)
|
109
|
+
assert_equal( mtx.e00, 1 )
|
110
|
+
assert_equal( mtx.e01, 2 )
|
111
|
+
assert_equal( mtx.e02, 3 )
|
112
|
+
assert_equal( mtx.e10, 4 )
|
113
|
+
assert_equal( mtx.e11, 5 )
|
114
|
+
assert_equal( mtx.e12, 6 )
|
115
|
+
assert_equal( mtx.e20, 7 )
|
116
|
+
assert_equal( mtx.e21, 8 )
|
117
|
+
assert_equal( mtx.e22, 9 )
|
118
|
+
end
|
119
|
+
|
120
|
+
def test_getRowColumn
|
121
|
+
mtx = RMtx3.new(1,2,3,
|
122
|
+
4,5,6,
|
123
|
+
7,8,9)
|
124
|
+
|
125
|
+
v = mtx.getRow(0)
|
126
|
+
assert_equal( v.x, 1 )
|
127
|
+
assert_equal( v.y, 2 )
|
128
|
+
assert_equal( v.z, 3 )
|
129
|
+
|
130
|
+
v = mtx.getRow(1)
|
131
|
+
assert_equal( v.x, 4 )
|
132
|
+
assert_equal( v.y, 5 )
|
133
|
+
assert_equal( v.z, 6 )
|
134
|
+
|
135
|
+
v = mtx.getRow(2)
|
136
|
+
assert_equal( v.x, 7 )
|
137
|
+
assert_equal( v.y, 8 )
|
138
|
+
assert_equal( v.z, 9 )
|
139
|
+
|
140
|
+
v = mtx.getColumn(0)
|
141
|
+
assert_equal( v.x, 1 )
|
142
|
+
assert_equal( v.y, 4 )
|
143
|
+
assert_equal( v.z, 7 )
|
144
|
+
|
145
|
+
v = mtx.getColumn(1)
|
146
|
+
assert_equal( v.x, 2 )
|
147
|
+
assert_equal( v.y, 5 )
|
148
|
+
assert_equal( v.z, 8 )
|
149
|
+
|
150
|
+
v = mtx.getColumn(2)
|
151
|
+
assert_equal( v.x, 3 )
|
152
|
+
assert_equal( v.y, 6 )
|
153
|
+
assert_equal( v.z, 9 )
|
154
|
+
end
|
155
|
+
|
156
|
+
def test_setRowColumn
|
157
|
+
mtx = RMtx3.new
|
158
|
+
|
159
|
+
vr = [RVec3.new(1,2,3),RVec3.new(4,5,6),RVec3.new(7,8,9)]
|
160
|
+
mtx.setRow(vr[0],0)
|
161
|
+
mtx.setRow(vr[1],1)
|
162
|
+
mtx.setRow(vr[2],2)
|
163
|
+
assert_equal( mtx.e00, 1 )
|
164
|
+
assert_equal( mtx.e01, 2 )
|
165
|
+
assert_equal( mtx.e02, 3 )
|
166
|
+
assert_equal( mtx.e10, 4 )
|
167
|
+
assert_equal( mtx.e11, 5 )
|
168
|
+
assert_equal( mtx.e12, 6 )
|
169
|
+
assert_equal( mtx.e20, 7 )
|
170
|
+
assert_equal( mtx.e21, 8 )
|
171
|
+
assert_equal( mtx.e22, 9 )
|
172
|
+
|
173
|
+
vc = [RVec3.new(1,2,3),RVec3.new(4,5,6),RVec3.new(7,8,9)]
|
174
|
+
mtx.setColumn(vc[0],0)
|
175
|
+
mtx.setColumn(vc[1],1)
|
176
|
+
mtx.setColumn(vc[2],2)
|
177
|
+
assert_equal( mtx.e00, 1 )
|
178
|
+
assert_equal( mtx.e01, 4 )
|
179
|
+
assert_equal( mtx.e02, 7 )
|
180
|
+
assert_equal( mtx.e10, 2 )
|
181
|
+
assert_equal( mtx.e11, 5 )
|
182
|
+
assert_equal( mtx.e12, 8 )
|
183
|
+
assert_equal( mtx.e20, 3 )
|
184
|
+
assert_equal( mtx.e21, 6 )
|
185
|
+
assert_equal( mtx.e22, 9 )
|
186
|
+
end
|
187
|
+
|
188
|
+
def test_setZero
|
189
|
+
m = RMtx3.new( 1, 2, 3, 4, 5, 6, 7, 8, 9 )
|
190
|
+
m.setZero
|
191
|
+
for r in 0...3 do
|
192
|
+
for c in 0...3 do
|
193
|
+
assert_equal( 0.0, m.getElement( r, c ) )
|
194
|
+
end
|
195
|
+
end
|
196
|
+
end
|
197
|
+
|
198
|
+
def test_setIdentity
|
199
|
+
m = RMtx3.new( 1, 2, 3, 4, 5, 6, 7, 8, 9 )
|
200
|
+
m.setIdentity
|
201
|
+
for r in 0...3 do
|
202
|
+
for c in 0...3 do
|
203
|
+
e = @mIdentity.getElement( r, c )
|
204
|
+
if ( r == c )
|
205
|
+
assert_equal( 1.0, e )
|
206
|
+
else
|
207
|
+
assert_equal( 0.0, e )
|
208
|
+
end
|
209
|
+
end
|
210
|
+
end
|
211
|
+
end
|
212
|
+
|
213
|
+
# http://en.wikipedia.org/wiki/Determinant
|
214
|
+
def test_getDeterminant
|
215
|
+
m0 = RMtx3.new( -2, 2, -3,
|
216
|
+
-1, 1, 3,
|
217
|
+
2, 0, -1 )
|
218
|
+
assert_equal( 18.0, m0.getDeterminant )
|
219
|
+
|
220
|
+
m1 = RMtx3.new( 0, 2, -3,
|
221
|
+
0, 1, 3,
|
222
|
+
2, 0, -1 )
|
223
|
+
assert_equal( 18.0, m1.getDeterminant )
|
224
|
+
|
225
|
+
m2 = RMtx3.new( Math::sqrt(2)/2, -Math::sqrt(2)/2, 0.0,
|
226
|
+
Math::sqrt(2)/2, Math::sqrt(2)/2, 0.0,
|
227
|
+
0.0, 0.0, 1.0 )
|
228
|
+
assert_in_delta( 1.0, m2.getDeterminant, @tolerance )
|
229
|
+
end
|
230
|
+
|
231
|
+
def test_transpose
|
232
|
+
m0 = RMtx3.new( -2, 2, -3,
|
233
|
+
-1, 1, 3,
|
234
|
+
2, 0, -1 )
|
235
|
+
# RMtx3#getTransposed
|
236
|
+
m1 = m0.getTransposed
|
237
|
+
for r in 0...3 do
|
238
|
+
for c in 0...3 do
|
239
|
+
assert_equal( m0.getElement(c,r), m1.getElement(r,c) )
|
240
|
+
end
|
241
|
+
end
|
242
|
+
|
243
|
+
# RMtx3#transpose!
|
244
|
+
m0.transpose!
|
245
|
+
for r in 0...3 do
|
246
|
+
for c in 0...3 do
|
247
|
+
assert_equal( m0.getElement(r,c), m1.getElement(r,c) )
|
248
|
+
end
|
249
|
+
end
|
250
|
+
end
|
251
|
+
|
252
|
+
# http://people.hofstra.edu/Stefan_waner/RealWorld/tutorialsf1/frames3_3.html
|
253
|
+
# http://numericalmethods.eng.usf.edu/mws/gen/04sle/mws_gen_sle_bck_system.pdf
|
254
|
+
def test_inverse
|
255
|
+
# RMtx3#getInverse
|
256
|
+
m0 = RMtx3.new( 1, 0, -2,
|
257
|
+
4, 1, 0,
|
258
|
+
1, 1, 7 )
|
259
|
+
|
260
|
+
m0inv = RMtx3.new( 7, -2, 2,
|
261
|
+
-28, 9, -8,
|
262
|
+
3, -1, 1 )
|
263
|
+
m1 = m0.getInverse
|
264
|
+
for r in 0...3 do
|
265
|
+
for c in 0...3 do
|
266
|
+
assert_in_delta( m0inv.getElement(r,c), m1.getElement(r,c), @tolerance )
|
267
|
+
end
|
268
|
+
end
|
269
|
+
|
270
|
+
# RMtx3#invert!
|
271
|
+
m2 = RMtx3.new( 25, 5, 1,
|
272
|
+
64, 8, 1,
|
273
|
+
144, 12, 1 )
|
274
|
+
|
275
|
+
m2inv = RMtx3.new( -4, 7, -3,
|
276
|
+
80,-119, 39,
|
277
|
+
-384, 420,-120 )
|
278
|
+
m2inv *= -1.0 / 84.0
|
279
|
+
|
280
|
+
m2.invert!
|
281
|
+
|
282
|
+
for r in 0...3 do
|
283
|
+
for c in 0...3 do
|
284
|
+
assert_in_delta( m2inv.getElement(r,c), m2.getElement(r,c), @tolerance )
|
285
|
+
end
|
286
|
+
end
|
287
|
+
end
|
288
|
+
|
289
|
+
def test_rotationX
|
290
|
+
m0 = RMtx3.new( 1.0, 0.0, 0.0,
|
291
|
+
0.0, Math::sqrt(2)/2, -Math::sqrt(2)/2,
|
292
|
+
0.0, Math::sqrt(2)/2, Math::sqrt(2)/2 )
|
293
|
+
m1 = RMtx3.new.rotationX( Math::PI/4.0 )
|
294
|
+
|
295
|
+
for r in 0...3 do
|
296
|
+
for c in 0...3 do
|
297
|
+
assert_in_delta( m0.getElement(r,c), m1.getElement(r,c), @tolerance )
|
298
|
+
end
|
299
|
+
end
|
300
|
+
|
301
|
+
|
302
|
+
m2 = RMtx3.new( 1.0, 0.0, 0.0,
|
303
|
+
0.0, 0.5, -Math::sqrt(3)/2,
|
304
|
+
0.0, Math::sqrt(3)/2, 0.5 );
|
305
|
+
m3 = RMtx3.new.rotationX( Math::PI/3.0 )
|
306
|
+
|
307
|
+
for r in 0...3 do
|
308
|
+
for c in 0...3 do
|
309
|
+
assert_in_delta( m2.getElement(r,c), m3.getElement(r,c), @tolerance )
|
310
|
+
end
|
311
|
+
end
|
312
|
+
end
|
313
|
+
|
314
|
+
def test_rotationY
|
315
|
+
m0 = RMtx3.new( Math::sqrt(2)/2, 0.0, Math::sqrt(2)/2,
|
316
|
+
0.0, 1.0, 0.0,
|
317
|
+
-Math::sqrt(2)/2, 0.0, Math::sqrt(2)/2 )
|
318
|
+
m1 = RMtx3.new.rotationY( Math::PI/4.0 )
|
319
|
+
|
320
|
+
for r in 0...3 do
|
321
|
+
for c in 0...3 do
|
322
|
+
assert_in_delta( m0.getElement(r,c), m1.getElement(r,c), @tolerance )
|
323
|
+
end
|
324
|
+
end
|
325
|
+
|
326
|
+
m2 = RMtx3.new( 0.5, 0.0, Math::sqrt(3)/2,
|
327
|
+
0.0, 1.0, 0.0,
|
328
|
+
-Math::sqrt(3)/2, 0.0, 0.5 )
|
329
|
+
m3 = RMtx3.new.rotationY( Math::PI/3.0 )
|
330
|
+
|
331
|
+
for r in 0...3 do
|
332
|
+
for c in 0...3 do
|
333
|
+
assert_in_delta( m2.getElement(r,c), m3.getElement(r,c), @tolerance )
|
334
|
+
end
|
335
|
+
end
|
336
|
+
end
|
337
|
+
|
338
|
+
def test_rotationZ
|
339
|
+
m0 = RMtx3.new( Math::sqrt(2)/2, -Math::sqrt(2)/2, 0.0,
|
340
|
+
Math::sqrt(2)/2, Math::sqrt(2)/2, 0.0,
|
341
|
+
0.0, 0.0, 1.0 )
|
342
|
+
m1 = RMtx3.new.rotationZ( Math::PI/4.0 )
|
343
|
+
|
344
|
+
for r in 0...3 do
|
345
|
+
for c in 0...3 do
|
346
|
+
assert_in_delta( m0.getElement(r,c), m1.getElement(r,c), @tolerance )
|
347
|
+
end
|
348
|
+
end
|
349
|
+
|
350
|
+
m2 = RMtx3.new( 0.5, -Math::sqrt(3)/2, 0.0,
|
351
|
+
Math::sqrt(3)/2, 0.5, 0.0,
|
352
|
+
0.0, 0.0, 1.0 )
|
353
|
+
m3 = RMtx3.new.rotationZ( Math::PI/3.0 )
|
354
|
+
|
355
|
+
for r in 0...3 do
|
356
|
+
for c in 0...3 do
|
357
|
+
assert_in_delta( m2.getElement(r,c), m3.getElement(r,c), @tolerance )
|
358
|
+
end
|
359
|
+
end
|
360
|
+
end
|
361
|
+
|
362
|
+
def test_rotationAxis
|
363
|
+
m0 = RMtx3.new( 0.5, -Math::sqrt(3)/2, 0.0,
|
364
|
+
Math::sqrt(3)/2, 0.5, 0.0,
|
365
|
+
0.0, 0.0, 1.0 )
|
366
|
+
m1 = RMtx3.new.rotationAxis( RVec3.new(0,0,1), Math::PI/3.0 )
|
367
|
+
|
368
|
+
for r in 0...3 do
|
369
|
+
for c in 0...3 do
|
370
|
+
assert_in_delta( m0.getElement(r,c), m1.getElement(r,c), @tolerance )
|
371
|
+
end
|
372
|
+
end
|
373
|
+
end
|
374
|
+
|
375
|
+
def test_rotationQuaternion
|
376
|
+
q = RQuat.new.rotationAxis( RVec3.new(0,0,1), Math::PI/3.0 )
|
377
|
+
m0 = RMtx3.new( 0.5, -Math::sqrt(3)/2, 0.0,
|
378
|
+
Math::sqrt(3)/2, 0.5, 0.0,
|
379
|
+
0.0, 0.0, 1.0 )
|
380
|
+
m1 = RMtx3.new.rotationQuaternion( q )
|
381
|
+
|
382
|
+
for r in 0...3 do
|
383
|
+
for c in 0...3 do
|
384
|
+
assert_in_delta( m0.getElement(r,c), m1.getElement(r,c), @tolerance )
|
385
|
+
end
|
386
|
+
end
|
387
|
+
end
|
388
|
+
|
389
|
+
def test_scaling
|
390
|
+
m0 = RMtx3.new( 10.0, 0.0, 0.0,
|
391
|
+
0.0, 20.0, 0.0,
|
392
|
+
0.0, 0.0, 30.0 )
|
393
|
+
m1 = RMtx3.new.scaling( 10.0, 20.0, 30.0 )
|
394
|
+
for r in 0...3 do
|
395
|
+
for c in 0...3 do
|
396
|
+
assert_in_delta( m0.getElement(r,c), m1.getElement(r,c), @tolerance )
|
397
|
+
end
|
398
|
+
end
|
399
|
+
end
|
400
|
+
|
401
|
+
def test_unary_operators
|
402
|
+
# RMtx3#+@
|
403
|
+
m0 = RMtx3.new( 0, 1, 2, 3, 4, 5, 6, 7, 8 )
|
404
|
+
m1 = RMtx3.new( 0, 1, 2, 3, 4, 5, 6, 7, 8 )
|
405
|
+
m2 = +m0
|
406
|
+
|
407
|
+
assert_same( m0, m2 )
|
408
|
+
assert( m1 == m2 )
|
409
|
+
|
410
|
+
for r in 0...3 do
|
411
|
+
for c in 0...3 do
|
412
|
+
assert_in_delta( 3*r+c, m2.getElement(r,c), @tolerance )
|
413
|
+
end
|
414
|
+
end
|
415
|
+
|
416
|
+
# RMtx3#-@
|
417
|
+
m2 = -m0
|
418
|
+
for r in 0...3 do
|
419
|
+
for c in 0...3 do
|
420
|
+
assert_in_delta( m0.getElement(r,c), -m2.getElement(r,c), @tolerance )
|
421
|
+
end
|
422
|
+
end
|
423
|
+
end
|
424
|
+
|
425
|
+
def test_binary_plus
|
426
|
+
m0 = RMtx3.new( 0, 1, 2, 3, 4, 5, 6, 7, 8 )
|
427
|
+
m1 = RMtx3.new( 9,10,11,12,13,14,15,16,17 )
|
428
|
+
m2 = RMtx3.new( 9,11,13,15,17,19,21,23,25 )
|
429
|
+
|
430
|
+
# RMtx3#+
|
431
|
+
m3 = m0 + m1
|
432
|
+
for r in 0...3 do
|
433
|
+
for c in 0...3 do
|
434
|
+
assert_in_delta( m2.getElement(r,c), m3.getElement(r,c), @tolerance )
|
435
|
+
end
|
436
|
+
end
|
437
|
+
|
438
|
+
# RMtx3#add!
|
439
|
+
m0.add!( m1 )
|
440
|
+
for r in 0...3 do
|
441
|
+
for c in 0...3 do
|
442
|
+
assert_in_delta( m2.getElement(r,c), m0.getElement(r,c), @tolerance )
|
443
|
+
end
|
444
|
+
end
|
445
|
+
end
|
446
|
+
|
447
|
+
def test_binary_minus
|
448
|
+
m0 = RMtx3.new( 0, 1, 2, 3, 4, 5, 6, 7, 8 )
|
449
|
+
m1 = RMtx3.new( 9,10,11,12,13,14,15,16,17 )
|
450
|
+
m2 = RMtx3.new(-9,-9,-9,-9,-9,-9,-9,-9,-9 )
|
451
|
+
|
452
|
+
# RMtx3#-
|
453
|
+
m3 = m0 - m1
|
454
|
+
for r in 0...3 do
|
455
|
+
for c in 0...3 do
|
456
|
+
assert_in_delta( m2.getElement(r,c), m3.getElement(r,c), @tolerance )
|
457
|
+
end
|
458
|
+
end
|
459
|
+
|
460
|
+
# RMtx3#sub!
|
461
|
+
m0.sub!( m1 )
|
462
|
+
for r in 0...3 do
|
463
|
+
for c in 0...3 do
|
464
|
+
assert_in_delta( m2.getElement(r,c), m0.getElement(r,c), @tolerance )
|
465
|
+
end
|
466
|
+
end
|
467
|
+
end
|
468
|
+
|
469
|
+
def test_binary_mult
|
470
|
+
m0 = RMtx3.new( 0, 1, 2, 3, 4, 5, 6, 7, 8 )
|
471
|
+
m1 = RMtx3.new( 9,10,11,12,13,14,15,16,17 )
|
472
|
+
m0x1 = RMtx3.new( 42, 45, 48, 150, 162, 174, 258, 279, 300 )
|
473
|
+
m1x0 = RMtx3.new( 96, 126, 156, 123, 162, 201, 150, 198, 246 )
|
474
|
+
|
475
|
+
# RMtx3#*
|
476
|
+
m2 = m0 * m1
|
477
|
+
for r in 0...3 do
|
478
|
+
for c in 0...3 do
|
479
|
+
assert_in_delta( m0x1.getElement(r,c), m2.getElement(r,c), @tolerance )
|
480
|
+
end
|
481
|
+
end
|
482
|
+
|
483
|
+
m2 = m1 * m0
|
484
|
+
for r in 0...3 do
|
485
|
+
for c in 0...3 do
|
486
|
+
assert_in_delta( m1x0.getElement(r,c), m2.getElement(r,c), @tolerance )
|
487
|
+
end
|
488
|
+
end
|
489
|
+
|
490
|
+
# RMtx3#mul!
|
491
|
+
m2 = RMtx3.new( m0 )
|
492
|
+
m2.mul!( m1 )
|
493
|
+
for r in 0...3 do
|
494
|
+
for c in 0...3 do
|
495
|
+
assert_in_delta( m0x1.getElement(r,c), m2.getElement(r,c), @tolerance )
|
496
|
+
end
|
497
|
+
end
|
498
|
+
|
499
|
+
m2 = RMtx3.new( m1 )
|
500
|
+
m2.mul!( m0 )
|
501
|
+
for r in 0...3 do
|
502
|
+
for c in 0...3 do
|
503
|
+
assert_in_delta( m1x0.getElement(r,c), m2.getElement(r,c), @tolerance )
|
504
|
+
end
|
505
|
+
end
|
506
|
+
end
|
507
|
+
|
508
|
+
def test_equality_operators
|
509
|
+
m0 = RMtx3.new( 0, 1, 2, 3, 4, 5, 6, 7, 8 )
|
510
|
+
m1 = RMtx3.new( 0, 1, 2, 3, 4, 5, 6, 7, 8 )
|
511
|
+
m2 = RMtx3.new( 9,10,11,12,13,14,15,16,17 )
|
512
|
+
|
513
|
+
assert( m0 == m1 )
|
514
|
+
assert( m0 != m2 )
|
515
|
+
end
|
516
|
+
|
517
|
+
end
|