rmath3d_plain 1.0.1

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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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+
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+ require 'glfw'
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+ require 'opengl'
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+
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+ include GLFW
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+ include OpenGL
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+
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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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+
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+
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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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+
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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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+
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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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+
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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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+
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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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+
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+
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+ class App
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+
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+ def draw
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+ glPushAttrib( GL_ALL_ATTRIB_BITS )
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+
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+ glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT )
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+
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+ glMatrixMode( GL_MODELVIEW )
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+ glLoadMatrixf( @mtxLookAt.to_a.pack('F16') )
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+
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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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+
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+ glPushMatrix()
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+
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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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+
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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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+
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+ glPopMatrix()
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+
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+ glPopAttrib()
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+ end
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+
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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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+
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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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+
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+ @window_width = w
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+ @window_height = h
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+ end
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+
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+ def initialize
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+ @window_width = 320
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+ @window_height = 240
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+
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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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+
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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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+
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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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+
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+ @teapot_rad_y = 0.0
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+ @mtxTeapotRotY = RMtx4.new.rotationY( @teapot_rad_y )
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+
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+ glfwInit()
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+
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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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+
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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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+
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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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+
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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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+
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+ glfwDestroyWindow( @window_handle )
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+ glfwTerminate()
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+ end
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+
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+ end
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+
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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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+
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+ require 'opengl'
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+
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+ class App
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+
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+ def draw
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+ glPushAttrib( GL_ALL_ATTRIB_BITS )
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+
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+ glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT )
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+
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+ glMatrixMode( GL_MODELVIEW )
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+ glLoadMatrix( @mtxLookAt )
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+
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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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+
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+ glPushMatrix()
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+
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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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+
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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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+
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+ glPopMatrix()
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+
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+ glPopAttrib()
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+
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+ glutSwapBuffers()
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+ end
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+
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+
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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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+
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+ @window_width = width
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+ @window_height = height
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+
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+ glutPostRedisplay()
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+ end
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+
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+
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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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+
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+
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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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+
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+
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+ def initialize
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+ @window_width = 320
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+ @window_height = 240
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+
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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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+
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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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+
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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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+
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+ @teapot_rad_y = 0.0
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+ @mtxTeapotRotY = RMtx4.new.rotationY( @teapot_rad_y )
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+
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+ glutInit()
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+
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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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+
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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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+
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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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+
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+ def start
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+ glutMainLoop()
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+ end
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+
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+ end
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+
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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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+
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+ 99999.times do
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+ v = RVec3.new( rand(), rand(), rand() )
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+ m = RMtx3.new.rotationX( Math::PI/4.0 )
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+ p v
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+ v2 = v.transformRS( m )
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+ p v2
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+ end
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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+
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+ # Test::Unit
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+ require 'minitest/autorun'
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+
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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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+ class TC_RMtx3 < Minitest::Test
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+
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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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+
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+ def teardown
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+ end
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+
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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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+
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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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+ assert_equal( 5, m1.getElement(1,2) )
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+ assert_equal( 6, m1.getElement(2,0) )
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+ assert_equal( 7, m1.getElement(2,1) )
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+ assert_equal( 8, m1.getElement(2,2) )
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+
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+ m2 = RMtx3.new( m1 )
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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( 3*r+c, m2.getElement(r,c) )
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+ end
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+ end
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+ end
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+
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+ def test_to_s
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+ assert_respond_to( @mZero, :to_s )
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+ end
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+
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+ def test_coerce
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+ assert_respond_to( @mZero, :coerce )
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+ end
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+
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+ def test_setElements
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+ @mZero.setElements( 0, 1, 2, 3, 4, 5, 6, 7, 8 )
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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( 3*r+c, @mZero.getElement(r,c) )
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+ end
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+ end
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+ end
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+
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+ def test_setElement
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+ for r in 0...3 do
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+ for c in 0...3 do
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+ @mZero.setElement( r, c, 3*r+c )
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+ end
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+ end
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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( 3*r+c, @mZero.getElement(r,c) )
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+ end
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+ end
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+
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+ for r in 0...3 do
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+ for c in 0...3 do
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+ @mZero[r, c] = 3*c+r
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+ end
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+ end
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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( 3*c+r, @mZero[r,c] )
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+ end
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+ end
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+ end
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+
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+ def test_getElement
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+ assert_respond_to( @mIdentity, :getElement )
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+ for r in 0...3 do
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+ for c in 0...3 do
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+ e = @mIdentity.getElement( r, c )
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+ if ( r == c )
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+ assert_equal( 1.0, e )
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+ else
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+ assert_equal( 0.0, e )
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+ end
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+ end
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+ end
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+
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+ for r in 0...3 do
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+ for c in 0...3 do
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+ e = @mIdentity[ r, c ]
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+ if ( r == c )
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+ assert_equal( 1.0, e )
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+ else
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+ assert_equal( 0.0, e )
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+ end
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+ end
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+ end
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+
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+ mtx = RMtx3.new(1,2,3,
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+ 4,5,6,
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+ 7,8,9)
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+ assert_equal( mtx.e00, 1 )
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+ assert_equal( mtx.e01, 2 )
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+ assert_equal( mtx.e02, 3 )
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+ assert_equal( mtx.e10, 4 )
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+ assert_equal( mtx.e11, 5 )
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+ assert_equal( mtx.e12, 6 )
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+ assert_equal( mtx.e20, 7 )
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+ assert_equal( mtx.e21, 8 )
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+ assert_equal( mtx.e22, 9 )
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+ end
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+
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+ def test_getRowColumn
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+ mtx = RMtx3.new(1,2,3,
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+ 4,5,6,
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+ 7,8,9)
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+
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+ v = mtx.getRow(0)
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+ assert_equal( v.x, 1 )
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+ assert_equal( v.y, 2 )
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+ assert_equal( v.z, 3 )
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+
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+ v = mtx.getRow(1)
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+ assert_equal( v.x, 4 )
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+ assert_equal( v.y, 5 )
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+ assert_equal( v.z, 6 )
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+
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+ v = mtx.getRow(2)
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+ assert_equal( v.x, 7 )
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+ assert_equal( v.y, 8 )
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+ assert_equal( v.z, 9 )
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+
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+ v = mtx.getColumn(0)
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+ assert_equal( v.x, 1 )
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+ assert_equal( v.y, 4 )
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+ assert_equal( v.z, 7 )
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+
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+ v = mtx.getColumn(1)
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+ assert_equal( v.x, 2 )
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+ assert_equal( v.y, 5 )
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+ assert_equal( v.z, 8 )
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+
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+ v = mtx.getColumn(2)
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+ assert_equal( v.x, 3 )
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+ assert_equal( v.y, 6 )
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+ assert_equal( v.z, 9 )
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+ end
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+
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+ def test_setRowColumn
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+ mtx = RMtx3.new
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+
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+ vr = [RVec3.new(1,2,3),RVec3.new(4,5,6),RVec3.new(7,8,9)]
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+ mtx.setRow(vr[0],0)
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+ mtx.setRow(vr[1],1)
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+ mtx.setRow(vr[2],2)
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+ assert_equal( mtx.e00, 1 )
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+ assert_equal( mtx.e01, 2 )
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+ assert_equal( mtx.e02, 3 )
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+ assert_equal( mtx.e10, 4 )
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+ assert_equal( mtx.e11, 5 )
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+ assert_equal( mtx.e12, 6 )
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+ assert_equal( mtx.e20, 7 )
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+ assert_equal( mtx.e21, 8 )
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+ assert_equal( mtx.e22, 9 )
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+
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+ vc = [RVec3.new(1,2,3),RVec3.new(4,5,6),RVec3.new(7,8,9)]
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+ mtx.setColumn(vc[0],0)
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+ mtx.setColumn(vc[1],1)
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+ mtx.setColumn(vc[2],2)
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+ assert_equal( mtx.e00, 1 )
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+ assert_equal( mtx.e01, 4 )
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+ assert_equal( mtx.e02, 7 )
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+ assert_equal( mtx.e10, 2 )
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+ assert_equal( mtx.e11, 5 )
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+ assert_equal( mtx.e12, 8 )
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+ assert_equal( mtx.e20, 3 )
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+ assert_equal( mtx.e21, 6 )
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+ assert_equal( mtx.e22, 9 )
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+ end
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+
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+ def test_setZero
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+ m = RMtx3.new( 1, 2, 3, 4, 5, 6, 7, 8, 9 )
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+ m.setZero
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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, m.getElement( r, c ) )
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+ end
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+ end
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+ end
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+
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+ def test_setIdentity
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+ m = RMtx3.new( 1, 2, 3, 4, 5, 6, 7, 8, 9 )
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+ m.setIdentity
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+ for r in 0...3 do
202
+ for c in 0...3 do
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+ e = @mIdentity.getElement( r, c )
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+ if ( r == c )
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+ assert_equal( 1.0, e )
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+ else
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+ assert_equal( 0.0, e )
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+ end
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+ end
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+ end
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+ end
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+
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+ # http://en.wikipedia.org/wiki/Determinant
214
+ def test_getDeterminant
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+ m0 = RMtx3.new( -2, 2, -3,
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+ -1, 1, 3,
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+ 2, 0, -1 )
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+ 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