rmath3d_plain 1.0.2 → 1.2.3
Sign up to get free protection for your applications and to get access to all the features.
- checksums.yaml +5 -5
- data/ChangeLog +26 -0
- data/LICENSE.txt +1 -1
- data/README.md +11 -3
- data/lib/rmath3d/rmath3d_plain.rb +1991 -1086
- data/sample/opengl-bindings/load_matrix.rb +2 -2
- data/sample/opengl2/load_matrix.rb +2 -2
- data/test/test.rb +3 -1
- data/test/test_RMtx2.rb +363 -0
- data/test/test_RMtx4.rb +11 -11
- data/test/test_RVec2.rb +187 -0
- metadata +14 -11
checksums.yaml
CHANGED
|
@@ -1,7 +1,7 @@
|
|
|
1
1
|
---
|
|
2
|
-
|
|
3
|
-
metadata.gz:
|
|
4
|
-
data.tar.gz:
|
|
2
|
+
SHA256:
|
|
3
|
+
metadata.gz: 4afeec14769aedc4dc064924600f42123b7db3001dd1d9b04887ea72226a6e62
|
|
4
|
+
data.tar.gz: 65f26f341e1c5c13e2e1971131132c7d641e1ac2cc1ee1abc1cc9a92c47f2731
|
|
5
5
|
SHA512:
|
|
6
|
-
metadata.gz:
|
|
7
|
-
data.tar.gz:
|
|
6
|
+
metadata.gz: dc52e86e9d990b0bfe033c399dbcf5da0b2eefd2309b37ce539bfaf420c58fbd8a526e4723c511d92ab5f473ea7257a696126f39b79606342dcfb91840273759
|
|
7
|
+
data.tar.gz: a197442846a593aa7d54a63609aa9ba3eebebdd6a2fa7b984def5741f077ec3e6322770164d2e200718769635f24a1cd58b3cc1ceb5a9bf1770336e81d7a822a
|
data/ChangeLog
CHANGED
|
@@ -1,3 +1,29 @@
|
|
|
1
|
+
2020-06-21 vaiorabbit <http://twitter.com/vaiorabbit>
|
|
2
|
+
|
|
3
|
+
* rmath3d.c, rmath3d_plain.rb (RMtx4): Added argument 'ndc_homogeneous' for projection matrix APIs.
|
|
4
|
+
Set true for the environment with Z coordinate ranges from -1 to +1 (OpenGL), and false otherwise (Direct3D, Metal)
|
|
5
|
+
https://www.slideshare.net/Mark_Kilgard/opengl-32-and-more/26-Direct3D_vs_OpenGL_Coordinate_System
|
|
6
|
+
https://metashapes.com/blog/opengl-metal-projection-matrix-problem/
|
|
7
|
+
* rmath3d_plain.rb: Removed Fixnum and Bignum symbols (deprecated and unified into Integer class since Ruby 2.4)
|
|
8
|
+
|
|
9
|
+
2017-07-22 vaiorabbit <http://twitter.com/vaiorabbit>
|
|
10
|
+
|
|
11
|
+
* Added 'Integer' type for argument type branching (constant ::Fixnum is deprecated since ruby 2.4).
|
|
12
|
+
|
|
13
|
+
2015-08-23 vaiorabbit <http://twitter.com/vaiorabbit>
|
|
14
|
+
|
|
15
|
+
* rmath3d.c (def ==): Removed control path returning Qnil.
|
|
16
|
+
* rmath3d_plain.rb (def ==): Removed control path returning Qnil.
|
|
17
|
+
|
|
18
|
+
2015-05-02 vaiorabbit <http://twitter.com/vaiorabbit>
|
|
19
|
+
|
|
20
|
+
* Ruby 1.9.3 and prior versions are no longer supported. Ref.: https://www.ruby-lang.org/en/news/2015/02/23/support-for-ruby-1-9-3-has-ended/
|
|
21
|
+
* rmath3d.c: Data_Get_Struct -> TypedData_Get_Struct, etc.
|
|
22
|
+
|
|
23
|
+
2015-04-12 vaiorabbit <http://twitter.com/vaiorabbit>
|
|
24
|
+
|
|
25
|
+
* RVec2.c|h, RMtx2.c|h: Added.
|
|
26
|
+
|
|
1
27
|
2014-05-17 vaiorabbit <http://twitter.com/vaiorabbit>
|
|
2
28
|
|
|
3
29
|
* ext/rmath3d/rmath3d.c: Fixed memory management
|
data/LICENSE.txt
CHANGED
|
@@ -1,5 +1,5 @@
|
|
|
1
1
|
rmath3d : Ruby math module for 3D Applications
|
|
2
|
-
Copyright (c) 2008-
|
|
2
|
+
Copyright (c) 2008-2020 vaiorabbit <http://twitter.com/vaiorabbit>
|
|
3
3
|
|
|
4
4
|
This software is provided 'as-is', without any express or implied
|
|
5
5
|
warranty. In no event will the authors be held liable for any damages
|
data/README.md
CHANGED
|
@@ -4,18 +4,23 @@
|
|
|
4
4
|
|
|
5
5
|
rmath3d is a math module for 3D game programming and computer graphics.
|
|
6
6
|
|
|
7
|
-
* Last Update:
|
|
7
|
+
* Last Update: Jun 21, 2020
|
|
8
8
|
* Since: Jul 20, 2008
|
|
9
9
|
|
|
10
|
+
* rmath3d (C Extension Library Implementation) [](https://badge.fury.io/rb/rmath3d) [](https://rubygems.org/gems/rmath3d)
|
|
11
|
+
* rmath3d_plain (Pure Ruby Implementation) [](https://badge.fury.io/rb/rmath3d_plain) [](https://rubygems.org/gems/rmath3d_plain)
|
|
12
|
+
|
|
10
13
|
## Features ##
|
|
11
14
|
|
|
12
15
|
### Supports frequently-used vector and matrix classes ###
|
|
13
16
|
|
|
17
|
+
* RMtx2 (2x2 matrix)
|
|
14
18
|
* RMtx3 (3x3 matrix)
|
|
15
19
|
* RMtx4 (4x4 matrix)
|
|
16
20
|
* RQuat (Quaternion)
|
|
17
|
-
*
|
|
18
|
-
*
|
|
21
|
+
* RVec2 (2-element vector)
|
|
22
|
+
* RVec3 (3-element vector)
|
|
23
|
+
* RVec4 (4-element vector)
|
|
19
24
|
|
|
20
25
|
### Two implementations that are interchangeable with each other ###
|
|
21
26
|
|
|
@@ -33,6 +38,9 @@ Notice: This library provides native extension. You must setup develop environme
|
|
|
33
38
|
* I used: DevKit-mingw64-32-4.7.2-20130224-1151-sfx.exe
|
|
34
39
|
* Unpack the archive -> "> ruby dk.rb init" -> edit config.yml (just add your ruby foldier) -> "> ruby dk.rb install"
|
|
35
40
|
* Ref.: http://blog.mattwynne.net/2010/10/12/installing-ruby-gems-with-native-extensions-on-windows/
|
|
41
|
+
* ruby 2.2.2p95 (2015-04-13 revision 50295) [x86_64-darwin14]
|
|
42
|
+
* Ruby 1.9.3 and prior versions are no longer supported.
|
|
43
|
+
* Ref.: https://www.ruby-lang.org/en/news/2015/02/23/support-for-ruby-1-9-3-has-ended/
|
|
36
44
|
|
|
37
45
|
## Building rmath3d.{so|bundle} ##
|
|
38
46
|
|
|
@@ -3,62 +3,59 @@ module RMath3D
|
|
|
3
3
|
TOLERANCE = 1.0e-15
|
|
4
4
|
|
|
5
5
|
#
|
|
6
|
-
# Document-class: RMath3D::
|
|
7
|
-
# provies
|
|
6
|
+
# Document-class: RMath3D::RMtx2
|
|
7
|
+
# provies 2x2 matrix arithmetic.
|
|
8
8
|
#
|
|
9
9
|
# <b>Notice</b>
|
|
10
10
|
# * elements are stored in column-major order.
|
|
11
11
|
#
|
|
12
|
-
class
|
|
12
|
+
class RMtx2
|
|
13
13
|
|
|
14
14
|
#
|
|
15
15
|
# call-seq:
|
|
16
|
-
#
|
|
17
|
-
#
|
|
18
|
-
#
|
|
19
|
-
#
|
|
16
|
+
# RMtx2.new -> ((1,0),(0,1))
|
|
17
|
+
# RMtx2.new(e) -> ((e,e), (e,e))
|
|
18
|
+
# RMtx2.new( other ) : Copy Constructor
|
|
19
|
+
# RMtx2.new( e0, e1, e2, e3 ) -> ((e0,e1), (e2,e3))
|
|
20
20
|
#
|
|
21
|
-
# Creates a new
|
|
21
|
+
# Creates a new 2x2 matrix.
|
|
22
22
|
#
|
|
23
23
|
def initialize( *a )
|
|
24
24
|
# [NOTE] elemetns are stored in column-major order.
|
|
25
25
|
@e = []
|
|
26
26
|
case a.length
|
|
27
27
|
when 0
|
|
28
|
-
@e = [ 0.0, 0.0,
|
|
29
|
-
0.0, 0.0
|
|
30
|
-
0.0, 0.0, 0.0 ]
|
|
28
|
+
@e = [ 0.0, 0.0,
|
|
29
|
+
0.0, 0.0 ]
|
|
31
30
|
when 1
|
|
32
31
|
case a[0]
|
|
33
|
-
when
|
|
34
|
-
@e = [ a[0], a[0],
|
|
35
|
-
a[0], a[0]
|
|
36
|
-
|
|
37
|
-
when RMtx3
|
|
32
|
+
when Float, Integer
|
|
33
|
+
@e = [ a[0], a[0],
|
|
34
|
+
a[0], a[0] ]
|
|
35
|
+
when RMtx2
|
|
38
36
|
# Copy Constructor
|
|
39
|
-
@e = [ a[0].e00, a[0].e10,
|
|
40
|
-
a[0].e01, a[0].e11
|
|
41
|
-
a[0].e02, a[0].e12, a[0].e22 ]
|
|
37
|
+
@e = [ a[0].e00, a[0].e10,
|
|
38
|
+
a[0].e01, a[0].e11 ]
|
|
42
39
|
else
|
|
43
|
-
raise TypeError, "
|
|
40
|
+
raise TypeError, "RMtx2#initialize : Unknown type #{a[0].class}."
|
|
44
41
|
return nil
|
|
45
42
|
end
|
|
46
|
-
when
|
|
43
|
+
when 4
|
|
47
44
|
# Element-wise setter
|
|
48
|
-
for row in 0...
|
|
49
|
-
for col in 0...
|
|
50
|
-
index =
|
|
45
|
+
for row in 0...2 do
|
|
46
|
+
for col in 0...2 do
|
|
47
|
+
index = 2*row + col
|
|
51
48
|
case a[index]
|
|
52
|
-
when
|
|
49
|
+
when Float, Integer
|
|
53
50
|
setElement( row, col, a[index] )
|
|
54
51
|
else
|
|
55
|
-
raise TypeError, "
|
|
52
|
+
raise TypeError, "RMtx2#initialize : Unknown type #{a[0].class}."
|
|
56
53
|
return nil
|
|
57
54
|
end
|
|
58
55
|
end
|
|
59
56
|
end
|
|
60
57
|
else
|
|
61
|
-
raise RuntimeError, "
|
|
58
|
+
raise RuntimeError, "RMtx2#initialize : wrong # of arguments (#{a.length})"
|
|
62
59
|
return nil
|
|
63
60
|
end
|
|
64
61
|
|
|
@@ -71,9 +68,8 @@ module RMath3D
|
|
|
71
68
|
# Returns human-readable string.
|
|
72
69
|
#
|
|
73
70
|
def to_s
|
|
74
|
-
"( #{@e[0]}, #{@e[
|
|
75
|
-
"( #{@e[1]}, #{@e[
|
|
76
|
-
"( #{@e[2]}, #{@e[5]}, #{@e[8]} )\n"
|
|
71
|
+
"( #{@e[0]}, #{@e[2]} )\n" +
|
|
72
|
+
"( #{@e[1]}, #{@e[3]} )\n"
|
|
77
73
|
end
|
|
78
74
|
|
|
79
75
|
#
|
|
@@ -92,28 +88,28 @@ module RMath3D
|
|
|
92
88
|
#
|
|
93
89
|
def coerce
|
|
94
90
|
case arg
|
|
95
|
-
when
|
|
91
|
+
when Float, Integer
|
|
96
92
|
return [ self, arg ]
|
|
97
93
|
else
|
|
98
|
-
raise TypeError, "
|
|
94
|
+
raise TypeError, "RMtx2#coerce : #{arg.self} can't be coerced into #{self.class}."
|
|
99
95
|
return nil
|
|
100
96
|
end
|
|
101
97
|
end
|
|
102
98
|
|
|
103
99
|
#
|
|
104
|
-
# call-seq: setElements( e0, e1,
|
|
100
|
+
# call-seq: setElements( e0, e1, e2, e3 )
|
|
105
101
|
#
|
|
106
|
-
# Stores given
|
|
102
|
+
# Stores given 4 new values.
|
|
107
103
|
#
|
|
108
104
|
def setElements( *a )
|
|
109
|
-
if a.length !=
|
|
110
|
-
raise RuntimeError, "
|
|
105
|
+
if a.length != 4
|
|
106
|
+
raise RuntimeError, "RMtx2#setElements : wrong # of arguments (#{a.length})"
|
|
111
107
|
return nil
|
|
112
108
|
end
|
|
113
109
|
|
|
114
|
-
for row in 0...
|
|
115
|
-
for col in 0...
|
|
116
|
-
index =
|
|
110
|
+
for row in 0...2 do
|
|
111
|
+
for col in 0...2 do
|
|
112
|
+
index = 2*row + col
|
|
117
113
|
setElement( row, col, a[index] )
|
|
118
114
|
end
|
|
119
115
|
end
|
|
@@ -126,7 +122,7 @@ module RMath3D
|
|
|
126
122
|
#
|
|
127
123
|
def []=(row,col,value)
|
|
128
124
|
# [NOTE] elemetns are stored in column-major order.
|
|
129
|
-
@e[col*
|
|
125
|
+
@e[col*2+row] = value
|
|
130
126
|
end
|
|
131
127
|
alias_method :setElement, :'[]='
|
|
132
128
|
|
|
@@ -137,7 +133,7 @@ module RMath3D
|
|
|
137
133
|
#
|
|
138
134
|
def [](row,col)
|
|
139
135
|
# [NOTE] elemetns are stored in column-major order.
|
|
140
|
-
return @e[col*
|
|
136
|
+
return @e[col*2+row]
|
|
141
137
|
end
|
|
142
138
|
alias_method :getElement, :'[]'
|
|
143
139
|
|
|
@@ -145,79 +141,57 @@ module RMath3D
|
|
|
145
141
|
def e00() getElement(0,0) end
|
|
146
142
|
# Returns the element at row 0 and column 1.
|
|
147
143
|
def e01() getElement(0,1) end
|
|
148
|
-
# Returns the element at row 0 and column 2.
|
|
149
|
-
def e02() getElement(0,2) end
|
|
150
144
|
# Returns the element at row 1 and column 0.
|
|
151
145
|
def e10() getElement(1,0) end
|
|
152
146
|
# Returns the element at row 1 and column 1.
|
|
153
147
|
def e11() getElement(1,1) end
|
|
154
|
-
# Returns the element at row 1 and column 2.
|
|
155
|
-
def e12() getElement(1,2) end
|
|
156
|
-
# Returns the element at row 2 and column 0.
|
|
157
|
-
def e20() getElement(2,0) end
|
|
158
|
-
# Returns the element at row 2 and column 1.
|
|
159
|
-
def e21() getElement(2,1) end
|
|
160
|
-
# Returns the element at row 2 and column 2.
|
|
161
|
-
def e22() getElement(2,2) end
|
|
162
148
|
|
|
163
149
|
# Replaces the element at row 0 and column 0 by +value+.
|
|
164
150
|
def e00=(value) setElement(0,0,value) end
|
|
165
151
|
# Replaces the element at row 0 and column 1 by +value+.
|
|
166
152
|
def e01=(value) setElement(0,1,value) end
|
|
167
|
-
# Replaces the element at row 0 and column 2 by +value+.
|
|
168
|
-
def e02=(value) setElement(0,2,value) end
|
|
169
153
|
# Replaces the element at row 1 and column 0 by +value+.
|
|
170
154
|
def e10=(value) setElement(1,0,value) end
|
|
171
155
|
# Replaces the element at row 1 and column 1 by +value+.
|
|
172
156
|
def e11=(value) setElement(1,1,value) end
|
|
173
|
-
# Replaces the element at row 1 and column 2 by +value+.
|
|
174
|
-
def e12=(value) setElement(1,2,value) end
|
|
175
|
-
# Replaces the element at row 2 and column 0 by +value+.
|
|
176
|
-
def e20=(value) setElement(2,0,value) end
|
|
177
|
-
# Replaces the element at row 2 and column 1 by +value+.
|
|
178
|
-
def e21=(value) setElement(2,1,value) end
|
|
179
|
-
# Replaces the element at row 2 and column 2 by +value+.
|
|
180
|
-
def e22=(value) setElement(2,2,value) end
|
|
181
157
|
|
|
182
158
|
|
|
183
159
|
#
|
|
184
|
-
# call-seq:
|
|
160
|
+
# call-seq: mtx2.getRow(r) -> RVec2
|
|
185
161
|
#
|
|
186
162
|
# Returns +r+-th row vector.
|
|
187
163
|
#
|
|
188
164
|
def getRow( row )
|
|
189
|
-
return
|
|
165
|
+
return RVec2.new( self[row,0], self[row,1] )
|
|
190
166
|
end
|
|
191
167
|
|
|
192
168
|
#
|
|
193
|
-
# call-seq:
|
|
169
|
+
# call-seq: mtx2.getColumn(c) -> RVec2
|
|
194
170
|
#
|
|
195
171
|
# Returns +c+-th column vector.
|
|
196
172
|
#
|
|
197
173
|
def getColumn( column )
|
|
198
|
-
return
|
|
174
|
+
return RVec2.new( self[0,column], self[1,column] )
|
|
199
175
|
end
|
|
200
176
|
|
|
201
177
|
#
|
|
202
|
-
# call-seq:
|
|
178
|
+
# call-seq: mtx2.setRow(v,r)
|
|
203
179
|
#
|
|
204
180
|
# Returns sets +r+-th row by vector +v+.
|
|
205
181
|
#
|
|
206
182
|
def setRow( v, row )
|
|
207
183
|
self[row,0] = v.x
|
|
208
184
|
self[row,1] = v.y
|
|
209
|
-
self[row,2] = v.z
|
|
210
185
|
end
|
|
211
186
|
|
|
212
187
|
#
|
|
213
|
-
# call-seq:
|
|
188
|
+
# call-seq: mtx2.setColumn(v,c)
|
|
214
189
|
#
|
|
215
190
|
# Returns sets +c+-th column by vector +v+.
|
|
216
191
|
#
|
|
217
192
|
def setColumn( v, column )
|
|
218
193
|
self[0,column] = v.x
|
|
219
194
|
self[1,column] = v.y
|
|
220
|
-
self[2,column] = v.z
|
|
221
195
|
end
|
|
222
196
|
|
|
223
197
|
#
|
|
@@ -226,7 +200,7 @@ module RMath3D
|
|
|
226
200
|
# Clears all elements by 0.0
|
|
227
201
|
#
|
|
228
202
|
def setZero
|
|
229
|
-
|
|
203
|
+
4.times do |i|
|
|
230
204
|
@e[i] = 0.0
|
|
231
205
|
end
|
|
232
206
|
return self
|
|
@@ -238,9 +212,9 @@ module RMath3D
|
|
|
238
212
|
# Sets as identity matrix.
|
|
239
213
|
#
|
|
240
214
|
def setIdentity
|
|
241
|
-
for row in 0...
|
|
242
|
-
for col in 0...
|
|
243
|
-
index =
|
|
215
|
+
for row in 0...2 do
|
|
216
|
+
for col in 0...2 do
|
|
217
|
+
index = 2*row + col
|
|
244
218
|
if ( row == col )
|
|
245
219
|
setElement( row, col, 1.0 )
|
|
246
220
|
else
|
|
@@ -257,9 +231,7 @@ module RMath3D
|
|
|
257
231
|
# Calculates determinant.
|
|
258
232
|
#
|
|
259
233
|
def getDeterminant
|
|
260
|
-
e00 *
|
|
261
|
-
e01 * (e10*e22 - e12*e20) +
|
|
262
|
-
e02 * (e10*e21 - e11*e20)
|
|
234
|
+
e00 * e11 - e01 * e10
|
|
263
235
|
end
|
|
264
236
|
|
|
265
237
|
#
|
|
@@ -268,9 +240,8 @@ module RMath3D
|
|
|
268
240
|
# Returns transposed matrix.
|
|
269
241
|
#
|
|
270
242
|
def getTransposed
|
|
271
|
-
return
|
|
272
|
-
@e[
|
|
273
|
-
@e[6], @e[7], @e[8] )
|
|
243
|
+
return RMtx2.new( @e[0], @e[1],
|
|
244
|
+
@e[2], @e[3] )
|
|
274
245
|
end
|
|
275
246
|
|
|
276
247
|
#
|
|
@@ -279,9 +250,7 @@ module RMath3D
|
|
|
279
250
|
# Transposeas its elements.
|
|
280
251
|
#
|
|
281
252
|
def transpose!
|
|
282
|
-
@e[1], @e[
|
|
283
|
-
@e[2], @e[6] = @e[6], @e[2]
|
|
284
|
-
@e[5], @e[7] = @e[7], @e[5]
|
|
253
|
+
@e[1], @e[2] = @e[2], @e[1]
|
|
285
254
|
end
|
|
286
255
|
|
|
287
256
|
#
|
|
@@ -290,27 +259,21 @@ module RMath3D
|
|
|
290
259
|
# Returns the inverse.
|
|
291
260
|
#
|
|
292
261
|
def getInverse
|
|
293
|
-
|
|
294
|
-
|
|
295
|
-
result.e00 = (self.e11*self.e22 - self.e12*self.e21)
|
|
296
|
-
result.e01 = -(self.e01*self.e22 - self.e02*self.e21)
|
|
297
|
-
result.e02 = (self.e01*self.e12 - self.e02*self.e11)
|
|
298
|
-
|
|
299
|
-
result.e10 = -(self.e10*self.e22 - self.e12*self.e20)
|
|
300
|
-
result.e11 = (self.e00*self.e22 - self.e02*self.e20)
|
|
301
|
-
result.e12 = -(self.e00*self.e12 - self.e02*self.e10)
|
|
302
|
-
|
|
303
|
-
result.e20 = (self.e10*self.e21 - self.e11*self.e20)
|
|
304
|
-
result.e21 = -(self.e00*self.e21 - self.e01*self.e20)
|
|
305
|
-
result.e22 = (self.e00*self.e11 - self.e01*self.e10)
|
|
306
|
-
|
|
307
|
-
det = e00 * result.e00 + e01 * result.e10 + e02 * result.e20
|
|
262
|
+
det = getDeterminant()
|
|
308
263
|
|
|
309
264
|
if ( det.abs < TOLERANCE )
|
|
310
|
-
raise RuntimeError, "
|
|
265
|
+
raise RuntimeError, "RMtx2#getInverse : det.abs < TOLERANCE"
|
|
311
266
|
return nil
|
|
312
267
|
end
|
|
313
268
|
|
|
269
|
+
result = RMtx2.new
|
|
270
|
+
|
|
271
|
+
result.e00 = self.e11
|
|
272
|
+
result.e01 = -self.e01
|
|
273
|
+
|
|
274
|
+
result.e10 = -self.e10
|
|
275
|
+
result.e11 = self.e00
|
|
276
|
+
|
|
314
277
|
d = 1.0 / det
|
|
315
278
|
|
|
316
279
|
result.mul!( d )
|
|
@@ -324,84 +287,38 @@ module RMath3D
|
|
|
324
287
|
# Makes itself as the inverse of the original matrix.
|
|
325
288
|
#
|
|
326
289
|
def invert!
|
|
327
|
-
|
|
328
|
-
|
|
329
|
-
elements[3*0+0] = (self.e11*self.e22 - self.e12*self.e21)
|
|
330
|
-
elements[3*0+1] = -(self.e01*self.e22 - self.e02*self.e21)
|
|
331
|
-
elements[3*0+2] = (self.e01*self.e12 - self.e02*self.e11)
|
|
332
|
-
|
|
333
|
-
elements[3*1+0] = -(self.e10*self.e22 - self.e12*self.e20)
|
|
334
|
-
elements[3*1+1] = (self.e00*self.e22 - self.e02*self.e20)
|
|
335
|
-
elements[3*1+2] = -(self.e00*self.e12 - self.e02*self.e10)
|
|
336
|
-
|
|
337
|
-
elements[3*2+0] = (self.e10*self.e21 - self.e11*self.e20)
|
|
338
|
-
elements[3*2+1] = -(self.e00*self.e21 - self.e01*self.e20)
|
|
339
|
-
elements[3*2+2] = (self.e00*self.e11 - self.e01*self.e10)
|
|
340
|
-
|
|
341
|
-
det = e00 * elements[3*0+0] + e01 * elements[3*1+0] + e02 * elements[3*2+0]
|
|
290
|
+
det = getDeterminant()
|
|
342
291
|
|
|
343
292
|
if ( det.abs < TOLERANCE )
|
|
344
|
-
raise RuntimeError, "
|
|
293
|
+
raise RuntimeError, "RMtx2#invert! : det.abs < TOLERANCE"
|
|
345
294
|
return nil
|
|
346
295
|
end
|
|
347
296
|
|
|
348
|
-
|
|
349
|
-
|
|
350
|
-
setElement( 0, 0, d * elements[3*0+0] )
|
|
351
|
-
setElement( 0, 1, d * elements[3*0+1] )
|
|
352
|
-
setElement( 0, 2, d * elements[3*0+2] )
|
|
353
|
-
setElement( 1, 0, d * elements[3*1+0] )
|
|
354
|
-
setElement( 1, 1, d * elements[3*1+1] )
|
|
355
|
-
setElement( 1, 2, d * elements[3*1+2] )
|
|
356
|
-
setElement( 2, 0, d * elements[3*2+0] )
|
|
357
|
-
setElement( 2, 1, d * elements[3*2+1] )
|
|
358
|
-
setElement( 2, 2, d * elements[3*2+2] )
|
|
359
|
-
|
|
360
|
-
return self
|
|
361
|
-
end
|
|
297
|
+
elements = Array.new( 4 )
|
|
362
298
|
|
|
363
|
-
|
|
364
|
-
|
|
365
|
-
#
|
|
366
|
-
# Makes a matrix that rotates around the x-axis.
|
|
367
|
-
#
|
|
368
|
-
def rotationX( radian )
|
|
369
|
-
s = Math.sin( radian )
|
|
370
|
-
c = Math.cos( radian )
|
|
299
|
+
elements[2*0+0] = self.e11
|
|
300
|
+
elements[2*0+1] = -self.e01
|
|
371
301
|
|
|
372
|
-
|
|
373
|
-
|
|
374
|
-
self.e12 = -s
|
|
375
|
-
self.e21 = s
|
|
376
|
-
self.e22 = c
|
|
302
|
+
elements[2*1+0] = -self.e10
|
|
303
|
+
elements[2*1+1] = self.e00
|
|
377
304
|
|
|
378
|
-
|
|
379
|
-
end
|
|
305
|
+
d = 1.0 / det
|
|
380
306
|
|
|
381
|
-
|
|
382
|
-
|
|
383
|
-
#
|
|
384
|
-
# Makes a matrix that rotates around the y-axis.
|
|
385
|
-
#
|
|
386
|
-
def rotationY( radian )
|
|
387
|
-
s = Math.sin( radian )
|
|
388
|
-
c = Math.cos( radian )
|
|
307
|
+
setElement( 0, 0, d * elements[2*0+0] )
|
|
308
|
+
setElement( 0, 1, d * elements[2*0+1] )
|
|
389
309
|
|
|
390
|
-
|
|
391
|
-
|
|
392
|
-
self.e02 = s
|
|
393
|
-
self.e20 = -s
|
|
394
|
-
self.e22 = c
|
|
310
|
+
setElement( 1, 0, d * elements[2*1+0] )
|
|
311
|
+
setElement( 1, 1, d * elements[2*1+1] )
|
|
395
312
|
|
|
396
313
|
return self
|
|
397
314
|
end
|
|
398
315
|
|
|
399
316
|
#
|
|
400
|
-
# call-seq:
|
|
317
|
+
# call-seq: rotation(radian) -> self
|
|
401
318
|
#
|
|
402
319
|
# Makes a matrix that rotates around the z-axis.
|
|
403
320
|
#
|
|
404
|
-
def
|
|
321
|
+
def rotation( radian )
|
|
405
322
|
s = Math.sin( radian )
|
|
406
323
|
c = Math.cos( radian )
|
|
407
324
|
|
|
@@ -415,88 +332,14 @@ module RMath3D
|
|
|
415
332
|
end
|
|
416
333
|
|
|
417
334
|
#
|
|
418
|
-
# call-seq:
|
|
419
|
-
#
|
|
420
|
-
# Makes a matrix that rotates around the +axis+.
|
|
421
|
-
#
|
|
422
|
-
def rotationAxis( axis, radian )
|
|
423
|
-
if ( axis.class != RVec3 )
|
|
424
|
-
raise TypeError, "RMtx3#rotationAxis : Unknown type #{axis.class} given as axis."
|
|
425
|
-
return nil
|
|
426
|
-
end
|
|
427
|
-
s = Math.sin( radian )
|
|
428
|
-
c = Math.cos( radian )
|
|
429
|
-
omc = 1.0 - c
|
|
430
|
-
x = axis.x.to_f
|
|
431
|
-
y = axis.y.to_f
|
|
432
|
-
z = axis.z.to_f
|
|
433
|
-
|
|
434
|
-
self.e00 = x*x*omc + c
|
|
435
|
-
self.e01 = x*y*omc - z*s
|
|
436
|
-
self.e02 = z*x*omc + y*s
|
|
437
|
-
self.e10 = x*y*omc + z*s
|
|
438
|
-
self.e11 = y*y*omc + c
|
|
439
|
-
self.e12 = y*z*omc - x*s
|
|
440
|
-
self.e20 = z*x*omc - y*s
|
|
441
|
-
self.e21 = y*z*omc + x*s
|
|
442
|
-
self.e22 = z*z*omc + c
|
|
443
|
-
|
|
444
|
-
return self
|
|
445
|
-
end
|
|
446
|
-
|
|
447
|
-
#
|
|
448
|
-
# call-seq: rotationQuaternion(q) -> self
|
|
449
|
-
#
|
|
450
|
-
# Makes a rotation matrix from a normalized quaternion +q+.
|
|
451
|
-
#
|
|
452
|
-
def rotationQuaternion( q )
|
|
453
|
-
if ( q.class != RQuat )
|
|
454
|
-
raise TypeError, "RMtx3#rotationQuaternion : Unknown type #{q.class} given as RQuat."
|
|
455
|
-
return nil
|
|
456
|
-
end
|
|
457
|
-
x = q.x
|
|
458
|
-
y = q.y
|
|
459
|
-
z = q.z
|
|
460
|
-
w = q.w
|
|
461
|
-
|
|
462
|
-
x2 = 2.0 * x
|
|
463
|
-
y2 = 2.0 * y
|
|
464
|
-
z2 = 2.0 * z
|
|
465
|
-
|
|
466
|
-
xx2 = x * x2
|
|
467
|
-
yy2 = y * y2
|
|
468
|
-
zz2 = z * z2
|
|
469
|
-
|
|
470
|
-
yz2 = y * z2
|
|
471
|
-
wx2 = w * x2
|
|
472
|
-
xy2 = x * y2
|
|
473
|
-
wz2 = w * z2
|
|
474
|
-
xz2 = x * z2
|
|
475
|
-
wy2 = w * y2
|
|
476
|
-
|
|
477
|
-
self.e00 = 1.0 - yy2 - zz2
|
|
478
|
-
self.e10 = xy2 + wz2
|
|
479
|
-
self.e20 = xz2 - wy2
|
|
480
|
-
self.e01 = xy2 - wz2
|
|
481
|
-
self.e11 = 1.0 - xx2 - zz2
|
|
482
|
-
self.e21 = yz2 + wx2
|
|
483
|
-
self.e02 = xz2 + wy2
|
|
484
|
-
self.e12 = yz2 - wx2
|
|
485
|
-
self.e22 = 1.0 - xx2 - yy2
|
|
486
|
-
|
|
487
|
-
return self
|
|
488
|
-
end
|
|
489
|
-
|
|
490
|
-
#
|
|
491
|
-
# call-seq: scaling(sx,sy,sz) -> self
|
|
335
|
+
# call-seq: scaling(sx,sy) -> self
|
|
492
336
|
#
|
|
493
337
|
# Makes itself as a scaling matrix.
|
|
494
338
|
#
|
|
495
|
-
def scaling( sx, sy
|
|
339
|
+
def scaling( sx, sy )
|
|
496
340
|
setIdentity()
|
|
497
341
|
setElement( 0, 0, sx )
|
|
498
342
|
setElement( 1, 1, sy )
|
|
499
|
-
setElement( 2, 2, sz )
|
|
500
343
|
|
|
501
344
|
return self
|
|
502
345
|
end
|
|
@@ -516,7 +359,7 @@ module RMath3D
|
|
|
516
359
|
# -mtx : Unary minus operator.
|
|
517
360
|
#
|
|
518
361
|
def -@
|
|
519
|
-
return
|
|
362
|
+
return RMtx2.new( self * -1.0 )
|
|
520
363
|
end
|
|
521
364
|
|
|
522
365
|
#
|
|
@@ -525,14 +368,14 @@ module RMath3D
|
|
|
525
368
|
# mtx1 + mtx2 : Binary plus operator.
|
|
526
369
|
#
|
|
527
370
|
def +( arg )
|
|
528
|
-
if ( arg.class !=
|
|
529
|
-
raise TypeError, "
|
|
371
|
+
if ( arg.class != RMtx2 )
|
|
372
|
+
raise TypeError, "RMtx2#+(arg) : Unknown type #{arg.class} given as RMtx2."
|
|
530
373
|
return nil
|
|
531
374
|
end
|
|
532
375
|
|
|
533
|
-
result =
|
|
534
|
-
for row in 0...
|
|
535
|
-
for col in 0...
|
|
376
|
+
result = RMtx2.new
|
|
377
|
+
for row in 0...2 do
|
|
378
|
+
for col in 0...2 do
|
|
536
379
|
result.setElement( row, col, getElement(row,col) + arg.getElement(row,col) )
|
|
537
380
|
end
|
|
538
381
|
end
|
|
@@ -546,14 +389,14 @@ module RMath3D
|
|
|
546
389
|
# mtx1 - mtx2 : Binary minus operator.
|
|
547
390
|
#
|
|
548
391
|
def -( arg )
|
|
549
|
-
if ( arg.class !=
|
|
550
|
-
raise TypeError, "
|
|
392
|
+
if ( arg.class != RMtx2 )
|
|
393
|
+
raise TypeError, "RMtx2#-(arg) : Unknown type #{arg.class} given as RMtx2."
|
|
551
394
|
return nil
|
|
552
395
|
end
|
|
553
396
|
|
|
554
|
-
result =
|
|
555
|
-
for row in 0...
|
|
556
|
-
for col in 0...
|
|
397
|
+
result = RMtx2.new
|
|
398
|
+
for row in 0...2 do
|
|
399
|
+
for col in 0...2 do
|
|
557
400
|
result.setElement( row, col, getElement(row,col) - arg.getElement(row,col) )
|
|
558
401
|
end
|
|
559
402
|
end
|
|
@@ -568,17 +411,16 @@ module RMath3D
|
|
|
568
411
|
#
|
|
569
412
|
def *( arg )
|
|
570
413
|
case arg
|
|
571
|
-
when
|
|
572
|
-
return
|
|
573
|
-
arg*self.e10, arg*self.e11
|
|
574
|
-
|
|
575
|
-
|
|
576
|
-
|
|
577
|
-
|
|
578
|
-
|
|
579
|
-
for col in 0...3 do
|
|
414
|
+
when Float, Integer
|
|
415
|
+
return RMtx2.new( arg*self.e00, arg*self.e01,
|
|
416
|
+
arg*self.e10, arg*self.e11 )
|
|
417
|
+
|
|
418
|
+
when RMtx2
|
|
419
|
+
result = RMtx2.new
|
|
420
|
+
for row in 0...2 do
|
|
421
|
+
for col in 0...2 do
|
|
580
422
|
sum = 0.0
|
|
581
|
-
for i in 0...
|
|
423
|
+
for i in 0...2 do
|
|
582
424
|
sum += getElement( row, i ) * arg.getElement( i, col )
|
|
583
425
|
end
|
|
584
426
|
result.setElement( row, col, sum )
|
|
@@ -587,7 +429,7 @@ module RMath3D
|
|
|
587
429
|
return result
|
|
588
430
|
|
|
589
431
|
else
|
|
590
|
-
raise TypeError, "
|
|
432
|
+
raise TypeError, "RMtx2#*(arg) : Unknown type #{arg.class} given."
|
|
591
433
|
return nil
|
|
592
434
|
end
|
|
593
435
|
end
|
|
@@ -598,19 +440,18 @@ module RMath3D
|
|
|
598
440
|
# mtx1 == mtx2 : evaluates equality.
|
|
599
441
|
#
|
|
600
442
|
def ==( other )
|
|
601
|
-
if
|
|
602
|
-
|
|
603
|
-
|
|
604
|
-
|
|
605
|
-
|
|
606
|
-
|
|
607
|
-
for col in 0...3 do
|
|
608
|
-
if ( (getElement(row,col) - other.getElement(row,col)).abs > TOLERANCE )
|
|
609
|
-
return false
|
|
443
|
+
if other.class == RMtx2
|
|
444
|
+
for row in 0...2 do
|
|
445
|
+
for col in 0...2 do
|
|
446
|
+
if ( (getElement(row,col) - other.getElement(row,col)).abs > TOLERANCE )
|
|
447
|
+
return false
|
|
448
|
+
end
|
|
610
449
|
end
|
|
611
450
|
end
|
|
451
|
+
return true
|
|
452
|
+
else
|
|
453
|
+
return false
|
|
612
454
|
end
|
|
613
|
-
return true
|
|
614
455
|
end
|
|
615
456
|
|
|
616
457
|
#
|
|
@@ -619,14 +460,14 @@ module RMath3D
|
|
|
619
460
|
# mtx1 += mtx2 : appends the elements of +mtx2+ into corresponding +mtx1+ elements.
|
|
620
461
|
#
|
|
621
462
|
def add!( other )
|
|
622
|
-
if ( other.class !=
|
|
623
|
-
raise TypeError, "
|
|
463
|
+
if ( other.class != RMtx2 )
|
|
464
|
+
raise TypeError, "RMtx2#add! : Unknown type #{other.class} given as RMtx2."
|
|
624
465
|
return nil
|
|
625
466
|
end
|
|
626
467
|
|
|
627
|
-
result =
|
|
628
|
-
for row in 0...
|
|
629
|
-
for col in 0...
|
|
468
|
+
result = RMtx2.new
|
|
469
|
+
for row in 0...2 do
|
|
470
|
+
for col in 0...2 do
|
|
630
471
|
self.setElement( row, col, getElement(row,col) + other.getElement(row,col) )
|
|
631
472
|
end
|
|
632
473
|
end
|
|
@@ -640,14 +481,14 @@ module RMath3D
|
|
|
640
481
|
# mtx1 -= mtx2 : subtracts the elements of +mtx2+ from corresponding +mtx1+ elements.
|
|
641
482
|
#
|
|
642
483
|
def sub!( other )
|
|
643
|
-
if ( other.class !=
|
|
644
|
-
raise TypeError, "
|
|
484
|
+
if ( other.class != RMtx2 )
|
|
485
|
+
raise TypeError, "RMtx2#sub! : Unknown type #{other.class} given as RMtx2."
|
|
645
486
|
return nil
|
|
646
487
|
end
|
|
647
488
|
|
|
648
|
-
result =
|
|
649
|
-
for row in 0...
|
|
650
|
-
for col in 0...
|
|
489
|
+
result = RMtx2.new
|
|
490
|
+
for row in 0...2 do
|
|
491
|
+
for col in 0...2 do
|
|
651
492
|
self.setElement( row, col, getElement(row,col) - other.getElement(row,col) )
|
|
652
493
|
end
|
|
653
494
|
end
|
|
@@ -662,24 +503,19 @@ module RMath3D
|
|
|
662
503
|
#
|
|
663
504
|
def mul!( other )
|
|
664
505
|
case other
|
|
665
|
-
when
|
|
506
|
+
when Float, Integer
|
|
666
507
|
self.e00 = other*self.e00
|
|
667
508
|
self.e01 = other*self.e01
|
|
668
|
-
self.e02 = other*self.e02
|
|
669
509
|
self.e10 = other*self.e10
|
|
670
510
|
self.e11 = other*self.e11
|
|
671
|
-
self.e12 = other*self.e12
|
|
672
|
-
self.e20 = other*self.e20
|
|
673
|
-
self.e21 = other*self.e21
|
|
674
|
-
self.e22 = other*self.e22
|
|
675
511
|
|
|
676
512
|
return self
|
|
677
|
-
when
|
|
678
|
-
result =
|
|
679
|
-
for row in 0...
|
|
680
|
-
for col in 0...
|
|
513
|
+
when RMtx2
|
|
514
|
+
result = RMtx2.new
|
|
515
|
+
for row in 0...2 do
|
|
516
|
+
for col in 0...2 do
|
|
681
517
|
sum = 0.0
|
|
682
|
-
for i in 0...
|
|
518
|
+
for i in 0...2 do
|
|
683
519
|
sum += getElement( row, i ) * other.getElement( i, col )
|
|
684
520
|
end
|
|
685
521
|
result.setElement( row, col, sum )
|
|
@@ -688,13 +524,8 @@ module RMath3D
|
|
|
688
524
|
|
|
689
525
|
self.e00 = result.e00
|
|
690
526
|
self.e01 = result.e01
|
|
691
|
-
self.e02 = result.e02
|
|
692
527
|
self.e10 = result.e10
|
|
693
528
|
self.e11 = result.e11
|
|
694
|
-
self.e12 = result.e12
|
|
695
|
-
self.e20 = result.e20
|
|
696
|
-
self.e21 = result.e21
|
|
697
|
-
self.e22 = result.e22
|
|
698
529
|
|
|
699
530
|
return self
|
|
700
531
|
end
|
|
@@ -702,65 +533,62 @@ module RMath3D
|
|
|
702
533
|
end
|
|
703
534
|
|
|
704
535
|
#
|
|
705
|
-
# Document-class: RMath3D::
|
|
706
|
-
# provies
|
|
536
|
+
# Document-class: RMath3D::RMtx3
|
|
537
|
+
# provies 3x3 matrix arithmetic.
|
|
707
538
|
#
|
|
708
539
|
# <b>Notice</b>
|
|
709
540
|
# * elements are stored in column-major order.
|
|
710
541
|
#
|
|
711
|
-
class
|
|
542
|
+
class RMtx3
|
|
712
543
|
|
|
713
544
|
#
|
|
714
545
|
# call-seq:
|
|
715
|
-
#
|
|
716
|
-
#
|
|
717
|
-
#
|
|
718
|
-
#
|
|
546
|
+
# RMtx3.new -> ((1,0,0),(0,1,0),(0,0,1))
|
|
547
|
+
# RMtx3.new(e) -> ((e,e,e), (e,e,e), (e,e,e))
|
|
548
|
+
# RMtx3.new( other ) : Copy Constructor
|
|
549
|
+
# RMtx3.new( e0, e1, ..., e8 ) -> ((e0,e1,e2), (e3,e4,e5), (e6,e7,e8))
|
|
719
550
|
#
|
|
720
|
-
# Creates a new
|
|
551
|
+
# Creates a new 3x3 matrix.
|
|
721
552
|
#
|
|
722
553
|
def initialize( *a )
|
|
723
554
|
# [NOTE] elemetns are stored in column-major order.
|
|
724
555
|
@e = []
|
|
725
556
|
case a.length
|
|
726
557
|
when 0
|
|
727
|
-
@e = [ 0.0, 0.0, 0.0,
|
|
728
|
-
0.0, 0.0, 0.0,
|
|
729
|
-
0.0, 0.0, 0.0
|
|
730
|
-
0.0, 0.0, 0.0, 0.0 ]
|
|
558
|
+
@e = [ 0.0, 0.0, 0.0,
|
|
559
|
+
0.0, 0.0, 0.0,
|
|
560
|
+
0.0, 0.0, 0.0 ]
|
|
731
561
|
when 1
|
|
732
562
|
case a[0]
|
|
733
|
-
when
|
|
734
|
-
@e = [ a[0], a[0], a[0],
|
|
735
|
-
a[0], a[0], a[0],
|
|
736
|
-
a[0], a[0], a[0]
|
|
737
|
-
|
|
738
|
-
when RMtx4
|
|
563
|
+
when Float, Integer
|
|
564
|
+
@e = [ a[0], a[0], a[0],
|
|
565
|
+
a[0], a[0], a[0],
|
|
566
|
+
a[0], a[0], a[0] ]
|
|
567
|
+
when RMtx3
|
|
739
568
|
# Copy Constructor
|
|
740
|
-
@e = [ a[0].e00, a[0].e10, a[0].e20,
|
|
741
|
-
a[0].e01, a[0].e11, a[0].e21,
|
|
742
|
-
a[0].e02, a[0].e12, a[0].e22
|
|
743
|
-
a[0].e03, a[0].e13, a[0].e23, a[0].e33 ]
|
|
569
|
+
@e = [ a[0].e00, a[0].e10, a[0].e20,
|
|
570
|
+
a[0].e01, a[0].e11, a[0].e21,
|
|
571
|
+
a[0].e02, a[0].e12, a[0].e22 ]
|
|
744
572
|
else
|
|
745
|
-
raise TypeError, "
|
|
573
|
+
raise TypeError, "RMtx3#initialize : Unknown type #{a[0].class}."
|
|
746
574
|
return nil
|
|
747
575
|
end
|
|
748
|
-
when
|
|
576
|
+
when 9
|
|
749
577
|
# Element-wise setter
|
|
750
|
-
for row in 0...
|
|
751
|
-
for col in 0...
|
|
752
|
-
index =
|
|
578
|
+
for row in 0...3 do
|
|
579
|
+
for col in 0...3 do
|
|
580
|
+
index = 3*row + col
|
|
753
581
|
case a[index]
|
|
754
|
-
when
|
|
582
|
+
when Float, Integer
|
|
755
583
|
setElement( row, col, a[index] )
|
|
756
584
|
else
|
|
757
|
-
raise TypeError, "
|
|
585
|
+
raise TypeError, "RMtx3#initialize : Unknown type #{a[0].class}."
|
|
758
586
|
return nil
|
|
759
587
|
end
|
|
760
588
|
end
|
|
761
589
|
end
|
|
762
590
|
else
|
|
763
|
-
raise RuntimeError, "
|
|
591
|
+
raise RuntimeError, "RMtx3#initialize : wrong # of arguments (#{a.length})"
|
|
764
592
|
return nil
|
|
765
593
|
end
|
|
766
594
|
|
|
@@ -773,10 +601,9 @@ module RMath3D
|
|
|
773
601
|
# Returns human-readable string.
|
|
774
602
|
#
|
|
775
603
|
def to_s
|
|
776
|
-
"( #{@e[0]}, #{@e[
|
|
777
|
-
"( #{@e[1]}, #{@e[
|
|
778
|
-
"( #{@e[2]}, #{@e[
|
|
779
|
-
"( #{@e[3]}, #{@e[7]}, #{@e[11]}, #{@e[15]} )\n"
|
|
604
|
+
"( #{@e[0]}, #{@e[3]}, #{@e[6]} )\n" +
|
|
605
|
+
"( #{@e[1]}, #{@e[4]}, #{@e[7]} )\n" +
|
|
606
|
+
"( #{@e[2]}, #{@e[5]}, #{@e[8]} )\n"
|
|
780
607
|
end
|
|
781
608
|
|
|
782
609
|
#
|
|
@@ -795,28 +622,28 @@ module RMath3D
|
|
|
795
622
|
#
|
|
796
623
|
def coerce
|
|
797
624
|
case arg
|
|
798
|
-
when
|
|
625
|
+
when Float, Integer
|
|
799
626
|
return [ self, arg ]
|
|
800
627
|
else
|
|
801
|
-
raise TypeError, "
|
|
628
|
+
raise TypeError, "RMtx3#coerce : #{arg.self} can't be coerced into #{self.class}."
|
|
802
629
|
return nil
|
|
803
630
|
end
|
|
804
631
|
end
|
|
805
632
|
|
|
806
633
|
#
|
|
807
|
-
# call-seq: setElements( e0, e1, ...,
|
|
634
|
+
# call-seq: setElements( e0, e1, ..., e8 )
|
|
808
635
|
#
|
|
809
|
-
# Stores given
|
|
636
|
+
# Stores given 9 new values.
|
|
810
637
|
#
|
|
811
638
|
def setElements( *a )
|
|
812
|
-
if a.length !=
|
|
813
|
-
raise RuntimeError, "
|
|
639
|
+
if a.length != 9
|
|
640
|
+
raise RuntimeError, "RMtx3#setElements : wrong # of arguments (#{a.length})"
|
|
814
641
|
return nil
|
|
815
642
|
end
|
|
816
643
|
|
|
817
|
-
for row in 0...
|
|
818
|
-
for col in 0...
|
|
819
|
-
index =
|
|
644
|
+
for row in 0...3 do
|
|
645
|
+
for col in 0...3 do
|
|
646
|
+
index = 3*row + col
|
|
820
647
|
setElement( row, col, a[index] )
|
|
821
648
|
end
|
|
822
649
|
end
|
|
@@ -829,7 +656,7 @@ module RMath3D
|
|
|
829
656
|
#
|
|
830
657
|
def []=(row,col,value)
|
|
831
658
|
# [NOTE] elemetns are stored in column-major order.
|
|
832
|
-
@e[col*
|
|
659
|
+
@e[col*3+row] = value
|
|
833
660
|
end
|
|
834
661
|
alias_method :setElement, :'[]='
|
|
835
662
|
|
|
@@ -840,7 +667,7 @@ module RMath3D
|
|
|
840
667
|
#
|
|
841
668
|
def [](row,col)
|
|
842
669
|
# [NOTE] elemetns are stored in column-major order.
|
|
843
|
-
return @e[col*
|
|
670
|
+
return @e[col*3+row]
|
|
844
671
|
end
|
|
845
672
|
alias_method :getElement, :'[]'
|
|
846
673
|
|
|
@@ -850,32 +677,18 @@ module RMath3D
|
|
|
850
677
|
def e01() getElement(0,1) end
|
|
851
678
|
# Returns the element at row 0 and column 2.
|
|
852
679
|
def e02() getElement(0,2) end
|
|
853
|
-
# Returns the element at row 0 and column 3.
|
|
854
|
-
def e03() getElement(0,3) end
|
|
855
680
|
# Returns the element at row 1 and column 0.
|
|
856
681
|
def e10() getElement(1,0) end
|
|
857
682
|
# Returns the element at row 1 and column 1.
|
|
858
683
|
def e11() getElement(1,1) end
|
|
859
684
|
# Returns the element at row 1 and column 2.
|
|
860
685
|
def e12() getElement(1,2) end
|
|
861
|
-
# Returns the element at row 1 and column 3.
|
|
862
|
-
def e13() getElement(1,3) end
|
|
863
686
|
# Returns the element at row 2 and column 0.
|
|
864
687
|
def e20() getElement(2,0) end
|
|
865
688
|
# Returns the element at row 2 and column 1.
|
|
866
689
|
def e21() getElement(2,1) end
|
|
867
690
|
# Returns the element at row 2 and column 2.
|
|
868
691
|
def e22() getElement(2,2) end
|
|
869
|
-
# Returns the element at row 2 and column 3.
|
|
870
|
-
def e23() getElement(2,3) end
|
|
871
|
-
# Returns the element at row 3 and column 0.
|
|
872
|
-
def e30() getElement(3,0) end
|
|
873
|
-
# Returns the element at row 3 and column 1.
|
|
874
|
-
def e31() getElement(3,1) end
|
|
875
|
-
# Returns the element at row 3 and column 2.
|
|
876
|
-
def e32() getElement(3,2) end
|
|
877
|
-
# Returns the element at row 3 and column 3.
|
|
878
|
-
def e33() getElement(3,3) end
|
|
879
692
|
|
|
880
693
|
# Replaces the element at row 0 and column 0 by +value+.
|
|
881
694
|
def e00=(value) setElement(0,0,value) end
|
|
@@ -883,53 +696,40 @@ module RMath3D
|
|
|
883
696
|
def e01=(value) setElement(0,1,value) end
|
|
884
697
|
# Replaces the element at row 0 and column 2 by +value+.
|
|
885
698
|
def e02=(value) setElement(0,2,value) end
|
|
886
|
-
# Replaces the element at row 0 and column 3 by +value+.
|
|
887
|
-
def e03=(value) setElement(0,3,value) end
|
|
888
699
|
# Replaces the element at row 1 and column 0 by +value+.
|
|
889
700
|
def e10=(value) setElement(1,0,value) end
|
|
890
701
|
# Replaces the element at row 1 and column 1 by +value+.
|
|
891
702
|
def e11=(value) setElement(1,1,value) end
|
|
892
703
|
# Replaces the element at row 1 and column 2 by +value+.
|
|
893
704
|
def e12=(value) setElement(1,2,value) end
|
|
894
|
-
# Replaces the element at row 1 and column 3 by +value+.
|
|
895
|
-
def e13=(value) setElement(1,3,value) end
|
|
896
705
|
# Replaces the element at row 2 and column 0 by +value+.
|
|
897
706
|
def e20=(value) setElement(2,0,value) end
|
|
898
707
|
# Replaces the element at row 2 and column 1 by +value+.
|
|
899
708
|
def e21=(value) setElement(2,1,value) end
|
|
900
709
|
# Replaces the element at row 2 and column 2 by +value+.
|
|
901
710
|
def e22=(value) setElement(2,2,value) end
|
|
902
|
-
|
|
903
|
-
def e23=(value) setElement(2,3,value) end
|
|
904
|
-
# Replaces the element at row 3 and column 0 by +value+.
|
|
905
|
-
def e30=(value) setElement(3,0,value) end
|
|
906
|
-
# Replaces the element at row 3 and column 1 by +value+.
|
|
907
|
-
def e31=(value) setElement(3,1,value) end
|
|
908
|
-
# Replaces the element at row 3 and column 2 by +value+.
|
|
909
|
-
def e32=(value) setElement(3,2,value) end
|
|
910
|
-
# Replaces the element at row 3 and column 3 by +value+.
|
|
911
|
-
def e33=(value) setElement(3,3,value) end
|
|
711
|
+
|
|
912
712
|
|
|
913
713
|
#
|
|
914
|
-
# call-seq:
|
|
714
|
+
# call-seq: mtx3.getRow(r) -> RVec3
|
|
915
715
|
#
|
|
916
716
|
# Returns +r+-th row vector.
|
|
917
717
|
#
|
|
918
718
|
def getRow( row )
|
|
919
|
-
return
|
|
719
|
+
return RVec3.new( self[row,0], self[row,1], self[row,2] )
|
|
920
720
|
end
|
|
921
721
|
|
|
922
722
|
#
|
|
923
|
-
# call-seq:
|
|
723
|
+
# call-seq: mtx3.getColumn(c) -> RVec3
|
|
924
724
|
#
|
|
925
725
|
# Returns +c+-th column vector.
|
|
926
726
|
#
|
|
927
727
|
def getColumn( column )
|
|
928
|
-
return
|
|
728
|
+
return RVec3.new( self[0,column], self[1,column], self[2,column] )
|
|
929
729
|
end
|
|
930
730
|
|
|
931
731
|
#
|
|
932
|
-
# call-seq:
|
|
732
|
+
# call-seq: mtx3.setRow(v,r)
|
|
933
733
|
#
|
|
934
734
|
# Returns sets +r+-th row by vector +v+.
|
|
935
735
|
#
|
|
@@ -937,11 +737,10 @@ module RMath3D
|
|
|
937
737
|
self[row,0] = v.x
|
|
938
738
|
self[row,1] = v.y
|
|
939
739
|
self[row,2] = v.z
|
|
940
|
-
self[row,3] = v.w
|
|
941
740
|
end
|
|
942
741
|
|
|
943
742
|
#
|
|
944
|
-
# call-seq:
|
|
743
|
+
# call-seq: mtx3.setColumn(v,c)
|
|
945
744
|
#
|
|
946
745
|
# Returns sets +c+-th column by vector +v+.
|
|
947
746
|
#
|
|
@@ -949,35 +748,15 @@ module RMath3D
|
|
|
949
748
|
self[0,column] = v.x
|
|
950
749
|
self[1,column] = v.y
|
|
951
750
|
self[2,column] = v.z
|
|
952
|
-
self[3,column] = v.w
|
|
953
|
-
end
|
|
954
|
-
|
|
955
|
-
def getUpper3x3
|
|
956
|
-
return RMtx3.new( self.e00, self.e01, self.e02,
|
|
957
|
-
self.e10, self.e11, self.e12,
|
|
958
|
-
self.e20, self.e21, self.e22 )
|
|
959
|
-
end
|
|
960
|
-
|
|
961
|
-
def setUpper3x3( mtx3x3 )
|
|
962
|
-
self.e00 = mtx3x3.e00
|
|
963
|
-
self.e01 = mtx3x3.e01
|
|
964
|
-
self.e02 = mtx3x3.e02
|
|
965
|
-
self.e10 = mtx3x3.e10
|
|
966
|
-
self.e11 = mtx3x3.e11
|
|
967
|
-
self.e12 = mtx3x3.e12
|
|
968
|
-
self.e20 = mtx3x3.e20
|
|
969
|
-
self.e21 = mtx3x3.e21
|
|
970
|
-
self.e22 = mtx3x3.e22
|
|
971
|
-
|
|
972
|
-
return self
|
|
973
751
|
end
|
|
974
752
|
|
|
753
|
+
#
|
|
975
754
|
# call-seq: setZero
|
|
976
755
|
#
|
|
977
756
|
# Clears all elements by 0.0
|
|
978
757
|
#
|
|
979
758
|
def setZero
|
|
980
|
-
|
|
759
|
+
9.times do |i|
|
|
981
760
|
@e[i] = 0.0
|
|
982
761
|
end
|
|
983
762
|
return self
|
|
@@ -989,9 +768,9 @@ module RMath3D
|
|
|
989
768
|
# Sets as identity matrix.
|
|
990
769
|
#
|
|
991
770
|
def setIdentity
|
|
992
|
-
for row in 0...
|
|
993
|
-
for col in 0...
|
|
994
|
-
index =
|
|
771
|
+
for row in 0...3 do
|
|
772
|
+
for col in 0...3 do
|
|
773
|
+
index = 3*row + col
|
|
995
774
|
if ( row == col )
|
|
996
775
|
setElement( row, col, 1.0 )
|
|
997
776
|
else
|
|
@@ -1002,23 +781,15 @@ module RMath3D
|
|
|
1002
781
|
return self
|
|
1003
782
|
end
|
|
1004
783
|
|
|
1005
|
-
def det3( _e00,_e01,_e02, _e10,_e11,_e12, _e20,_e21,_e22 )
|
|
1006
|
-
_e00 * (_e11*_e22 - _e12*_e21) -
|
|
1007
|
-
_e01 * (_e10*_e22 - _e12*_e20) +
|
|
1008
|
-
_e02 * (_e10*_e21 - _e11*_e20)
|
|
1009
|
-
end
|
|
1010
|
-
private :det3
|
|
1011
|
-
|
|
1012
784
|
#
|
|
1013
785
|
# call-seq: getDeterminant -> determinant
|
|
1014
786
|
#
|
|
1015
787
|
# Calculates determinant.
|
|
1016
788
|
#
|
|
1017
789
|
def getDeterminant
|
|
1018
|
-
e00 *
|
|
1019
|
-
e01 *
|
|
1020
|
-
e02 *
|
|
1021
|
-
e03 * det3( e10,e11,e12, e20,e21,e22, e30,e31,e32 )
|
|
790
|
+
e00 * (e11*e22 - e12*e21) -
|
|
791
|
+
e01 * (e10*e22 - e12*e20) +
|
|
792
|
+
e02 * (e10*e21 - e11*e20)
|
|
1022
793
|
end
|
|
1023
794
|
|
|
1024
795
|
#
|
|
@@ -1027,10 +798,9 @@ module RMath3D
|
|
|
1027
798
|
# Returns transposed matrix.
|
|
1028
799
|
#
|
|
1029
800
|
def getTransposed
|
|
1030
|
-
return
|
|
1031
|
-
@e[
|
|
1032
|
-
@e[
|
|
1033
|
-
@e[12], @e[13], @e[14], @e[15] )
|
|
801
|
+
return RMtx3.new( @e[0], @e[1], @e[2],
|
|
802
|
+
@e[3], @e[4], @e[5],
|
|
803
|
+
@e[6], @e[7], @e[8] )
|
|
1034
804
|
end
|
|
1035
805
|
|
|
1036
806
|
#
|
|
@@ -1039,12 +809,9 @@ module RMath3D
|
|
|
1039
809
|
# Transposeas its elements.
|
|
1040
810
|
#
|
|
1041
811
|
def transpose!
|
|
1042
|
-
@e[
|
|
1043
|
-
@e[
|
|
1044
|
-
@e[
|
|
1045
|
-
@e[ 6], @e[ 9] = @e[ 9], @e[ 6]
|
|
1046
|
-
@e[ 7], @e[13] = @e[13], @e[ 7]
|
|
1047
|
-
@e[11], @e[14] = @e[14], @e[11]
|
|
812
|
+
@e[1], @e[3] = @e[3], @e[1]
|
|
813
|
+
@e[2], @e[6] = @e[6], @e[2]
|
|
814
|
+
@e[5], @e[7] = @e[7], @e[5]
|
|
1048
815
|
end
|
|
1049
816
|
|
|
1050
817
|
#
|
|
@@ -1053,32 +820,24 @@ module RMath3D
|
|
|
1053
820
|
# Returns the inverse.
|
|
1054
821
|
#
|
|
1055
822
|
def getInverse
|
|
1056
|
-
result =
|
|
1057
|
-
|
|
1058
|
-
result.e00 = det3( e11,e12,e13, e21,e22,e23, e31,e32,e33 )
|
|
1059
|
-
result.e01 = -det3( e01,e02,e03, e21,e22,e23, e31,e32,e33 )
|
|
1060
|
-
result.e02 = det3( e01,e02,e03, e11,e12,e13, e31,e32,e33 )
|
|
1061
|
-
result.e03 = -det3( e01,e02,e03, e11,e12,e13, e21,e22,e23 )
|
|
823
|
+
result = RMtx3.new
|
|
1062
824
|
|
|
1063
|
-
result.
|
|
1064
|
-
result.
|
|
1065
|
-
result.
|
|
1066
|
-
result.e13 = det3( e00,e02,e03, e10,e12,e13, e20,e22,e23 )
|
|
825
|
+
result.e00 = (self.e11*self.e22 - self.e12*self.e21)
|
|
826
|
+
result.e01 = -(self.e01*self.e22 - self.e02*self.e21)
|
|
827
|
+
result.e02 = (self.e01*self.e12 - self.e02*self.e11)
|
|
1067
828
|
|
|
1068
|
-
result.
|
|
1069
|
-
result.
|
|
1070
|
-
result.
|
|
1071
|
-
result.e23 = -det3( e00,e01,e03, e10,e11,e13, e20,e21,e23 )
|
|
829
|
+
result.e10 = -(self.e10*self.e22 - self.e12*self.e20)
|
|
830
|
+
result.e11 = (self.e00*self.e22 - self.e02*self.e20)
|
|
831
|
+
result.e12 = -(self.e00*self.e12 - self.e02*self.e10)
|
|
1072
832
|
|
|
1073
|
-
result.
|
|
1074
|
-
result.
|
|
1075
|
-
result.
|
|
1076
|
-
result.e33 = det3( e00,e01,e02, e10,e11,e12, e20,e21,e22 )
|
|
833
|
+
result.e20 = (self.e10*self.e21 - self.e11*self.e20)
|
|
834
|
+
result.e21 = -(self.e00*self.e21 - self.e01*self.e20)
|
|
835
|
+
result.e22 = (self.e00*self.e11 - self.e01*self.e10)
|
|
1077
836
|
|
|
1078
|
-
det = e00 * result.e00 + e01 * result.e10 + e02 * result.e20
|
|
837
|
+
det = e00 * result.e00 + e01 * result.e10 + e02 * result.e20
|
|
1079
838
|
|
|
1080
839
|
if ( det.abs < TOLERANCE )
|
|
1081
|
-
raise RuntimeError, "
|
|
840
|
+
raise RuntimeError, "RMtx3#getInverse : det.abs < TOLERANCE"
|
|
1082
841
|
return nil
|
|
1083
842
|
end
|
|
1084
843
|
|
|
@@ -1095,70 +854,38 @@ module RMath3D
|
|
|
1095
854
|
# Makes itself as the inverse of the original matrix.
|
|
1096
855
|
#
|
|
1097
856
|
def invert!
|
|
1098
|
-
elements = Array.new(
|
|
857
|
+
elements = Array.new( 9 )
|
|
1099
858
|
|
|
1100
|
-
elements[
|
|
1101
|
-
elements[
|
|
1102
|
-
elements[
|
|
1103
|
-
elements[4*0+3] = -det3( self.e01,self.e02,self.e03, self.e11,self.e12,self.e13, self.e21,self.e22,self.e23 )
|
|
1104
|
-
|
|
1105
|
-
elements[4*1+0] = -det3( self.e10,self.e12,self.e13, self.e20,self.e22,self.e23, self.e30,self.e32,self.e33 )
|
|
1106
|
-
elements[4*1+1] = det3( self.e00,self.e02,self.e03, self.e20,self.e22,self.e23, self.e30,self.e32,self.e33 )
|
|
1107
|
-
elements[4*1+2] = -det3( self.e00,self.e02,self.e03, self.e10,self.e12,self.e13, self.e30,self.e32,self.e33 )
|
|
1108
|
-
elements[4*1+3] = det3( self.e00,self.e02,self.e03, self.e10,self.e12,self.e13, self.e20,self.e22,self.e23 )
|
|
859
|
+
elements[3*0+0] = (self.e11*self.e22 - self.e12*self.e21)
|
|
860
|
+
elements[3*0+1] = -(self.e01*self.e22 - self.e02*self.e21)
|
|
861
|
+
elements[3*0+2] = (self.e01*self.e12 - self.e02*self.e11)
|
|
1109
862
|
|
|
1110
|
-
elements[
|
|
1111
|
-
elements[
|
|
1112
|
-
elements[
|
|
1113
|
-
elements[4*2+3] = -det3( self.e00,self.e01,self.e03, self.e10,self.e11,self.e13, self.e20,self.e21,self.e23 )
|
|
863
|
+
elements[3*1+0] = -(self.e10*self.e22 - self.e12*self.e20)
|
|
864
|
+
elements[3*1+1] = (self.e00*self.e22 - self.e02*self.e20)
|
|
865
|
+
elements[3*1+2] = -(self.e00*self.e12 - self.e02*self.e10)
|
|
1114
866
|
|
|
1115
|
-
elements[
|
|
1116
|
-
elements[
|
|
1117
|
-
elements[
|
|
1118
|
-
elements[4*3+3] = det3( self.e00,self.e01,self.e02, self.e10,self.e11,self.e12, self.e20,self.e21,self.e22 )
|
|
867
|
+
elements[3*2+0] = (self.e10*self.e21 - self.e11*self.e20)
|
|
868
|
+
elements[3*2+1] = -(self.e00*self.e21 - self.e01*self.e20)
|
|
869
|
+
elements[3*2+2] = (self.e00*self.e11 - self.e01*self.e10)
|
|
1119
870
|
|
|
1120
|
-
det = e00 * elements[
|
|
871
|
+
det = e00 * elements[3*0+0] + e01 * elements[3*1+0] + e02 * elements[3*2+0]
|
|
1121
872
|
|
|
1122
|
-
if ( det.abs< TOLERANCE )
|
|
1123
|
-
raise RuntimeError, "
|
|
873
|
+
if ( det.abs < TOLERANCE )
|
|
874
|
+
raise RuntimeError, "RMtx3#invert! : det.abs < TOLERANCE"
|
|
1124
875
|
return nil
|
|
1125
876
|
end
|
|
1126
877
|
|
|
1127
878
|
d = 1.0 / det
|
|
1128
879
|
|
|
1129
|
-
setElement( 0, 0, d * elements[
|
|
1130
|
-
setElement( 0, 1, d * elements[
|
|
1131
|
-
setElement( 0, 2, d * elements[
|
|
1132
|
-
setElement(
|
|
1133
|
-
|
|
1134
|
-
setElement( 1,
|
|
1135
|
-
setElement(
|
|
1136
|
-
setElement(
|
|
1137
|
-
setElement(
|
|
1138
|
-
|
|
1139
|
-
setElement( 2, 0, d * elements[4*2+0] )
|
|
1140
|
-
setElement( 2, 1, d * elements[4*2+1] )
|
|
1141
|
-
setElement( 2, 2, d * elements[4*2+2] )
|
|
1142
|
-
setElement( 2, 3, d * elements[4*2+3] )
|
|
1143
|
-
|
|
1144
|
-
setElement( 3, 0, d * elements[4*3+0] )
|
|
1145
|
-
setElement( 3, 1, d * elements[4*3+1] )
|
|
1146
|
-
setElement( 3, 2, d * elements[4*3+2] )
|
|
1147
|
-
setElement( 3, 3, d * elements[4*3+3] )
|
|
1148
|
-
|
|
1149
|
-
return self
|
|
1150
|
-
end
|
|
1151
|
-
|
|
1152
|
-
#
|
|
1153
|
-
# call-seq: translation(tx,ty,tz) -> self
|
|
1154
|
-
#
|
|
1155
|
-
# Makes itself as a translation matrix.
|
|
1156
|
-
#
|
|
1157
|
-
def translation( tx, ty, tz )
|
|
1158
|
-
setIdentity()
|
|
1159
|
-
self.e03 = tx
|
|
1160
|
-
self.e13 = ty
|
|
1161
|
-
self.e23 = tz
|
|
880
|
+
setElement( 0, 0, d * elements[3*0+0] )
|
|
881
|
+
setElement( 0, 1, d * elements[3*0+1] )
|
|
882
|
+
setElement( 0, 2, d * elements[3*0+2] )
|
|
883
|
+
setElement( 1, 0, d * elements[3*1+0] )
|
|
884
|
+
setElement( 1, 1, d * elements[3*1+1] )
|
|
885
|
+
setElement( 1, 2, d * elements[3*1+2] )
|
|
886
|
+
setElement( 2, 0, d * elements[3*2+0] )
|
|
887
|
+
setElement( 2, 1, d * elements[3*2+1] )
|
|
888
|
+
setElement( 2, 2, d * elements[3*2+2] )
|
|
1162
889
|
|
|
1163
890
|
return self
|
|
1164
891
|
end
|
|
@@ -1224,7 +951,7 @@ module RMath3D
|
|
|
1224
951
|
#
|
|
1225
952
|
def rotationAxis( axis, radian )
|
|
1226
953
|
if ( axis.class != RVec3 )
|
|
1227
|
-
raise TypeError, "
|
|
954
|
+
raise TypeError, "RMtx3#rotationAxis : Unknown type #{axis.class} given as axis."
|
|
1228
955
|
return nil
|
|
1229
956
|
end
|
|
1230
957
|
s = Math.sin( radian )
|
|
@@ -1234,8 +961,6 @@ module RMath3D
|
|
|
1234
961
|
y = axis.y.to_f
|
|
1235
962
|
z = axis.z.to_f
|
|
1236
963
|
|
|
1237
|
-
setIdentity()
|
|
1238
|
-
|
|
1239
964
|
self.e00 = x*x*omc + c
|
|
1240
965
|
self.e01 = x*y*omc - z*s
|
|
1241
966
|
self.e02 = z*x*omc + y*s
|
|
@@ -1256,7 +981,7 @@ module RMath3D
|
|
|
1256
981
|
#
|
|
1257
982
|
def rotationQuaternion( q )
|
|
1258
983
|
if ( q.class != RQuat )
|
|
1259
|
-
raise TypeError, "
|
|
984
|
+
raise TypeError, "RMtx3#rotationQuaternion : Unknown type #{q.class} given as RQuat."
|
|
1260
985
|
return nil
|
|
1261
986
|
end
|
|
1262
987
|
x = q.x
|
|
@@ -1279,8 +1004,6 @@ module RMath3D
|
|
|
1279
1004
|
xz2 = x * z2
|
|
1280
1005
|
wy2 = w * y2
|
|
1281
1006
|
|
|
1282
|
-
setIdentity()
|
|
1283
|
-
|
|
1284
1007
|
self.e00 = 1.0 - yy2 - zz2
|
|
1285
1008
|
self.e10 = xy2 + wz2
|
|
1286
1009
|
self.e20 = xz2 - wy2
|
|
@@ -1308,150 +1031,6 @@ module RMath3D
|
|
|
1308
1031
|
return self
|
|
1309
1032
|
end
|
|
1310
1033
|
|
|
1311
|
-
#
|
|
1312
|
-
# call-seq: lookAtRH(eye,at,up) -> self
|
|
1313
|
-
#
|
|
1314
|
-
# Builds a viewing matrix for a right-handed coordinate system from:
|
|
1315
|
-
# * eye position (+eye+: RVec3)
|
|
1316
|
-
# * a point looking at (+at+: RVec3)
|
|
1317
|
-
# * up vector (+up+: RVec3)
|
|
1318
|
-
#
|
|
1319
|
-
def lookAtRH( eye, at, up )
|
|
1320
|
-
setIdentity()
|
|
1321
|
-
|
|
1322
|
-
axis_z = (eye - at).normalize!
|
|
1323
|
-
axis_x = RVec3.cross( up, axis_z ).normalize!
|
|
1324
|
-
axis_y = RVec3.cross( axis_z, axis_x )
|
|
1325
|
-
|
|
1326
|
-
self.e00 = axis_x[0]
|
|
1327
|
-
self.e01 = axis_x[1]
|
|
1328
|
-
self.e02 = axis_x[2]
|
|
1329
|
-
self.e03 = -RVec3.dot( axis_x, eye )
|
|
1330
|
-
|
|
1331
|
-
self.e10 = axis_y[0]
|
|
1332
|
-
self.e11 = axis_y[1]
|
|
1333
|
-
self.e12 = axis_y[2]
|
|
1334
|
-
self.e13 = -RVec3.dot( axis_y, eye )
|
|
1335
|
-
|
|
1336
|
-
self.e20 = axis_z[0]
|
|
1337
|
-
self.e21 = axis_z[1]
|
|
1338
|
-
self.e22 = axis_z[2]
|
|
1339
|
-
self.e23 = -RVec3.dot( axis_z, eye )
|
|
1340
|
-
|
|
1341
|
-
return self
|
|
1342
|
-
end
|
|
1343
|
-
|
|
1344
|
-
#
|
|
1345
|
-
# call-seq: perspectiveRH(width,height,znear,zfar) -> self
|
|
1346
|
-
#
|
|
1347
|
-
# Builds a perspective projection matrix for a right-handed coordinate system from:
|
|
1348
|
-
# * View volume width (+width+)
|
|
1349
|
-
# * View volume height (+height+)
|
|
1350
|
-
# * Near clip plane distance (+znear+)
|
|
1351
|
-
# * Far clip plane distance (+zfar+)
|
|
1352
|
-
#
|
|
1353
|
-
def perspectiveRH( width, height, znear, zfar )
|
|
1354
|
-
perspectiveOffCenterRH(-width/2.0, width/2.0, -height/2.0, height/2.0, znear, zfar )
|
|
1355
|
-
return self
|
|
1356
|
-
end
|
|
1357
|
-
|
|
1358
|
-
#
|
|
1359
|
-
# call-seq: perspectiveFovRH(fovy,aspect,znear,zfar) -> self
|
|
1360
|
-
#
|
|
1361
|
-
# Builds a perspective projection matrix for a right-handed coordinate system from:
|
|
1362
|
-
# * Field of view in y direction (+fovy+ radian)
|
|
1363
|
-
# * Aspect ratio (+aspect+)
|
|
1364
|
-
# * Near clip plane distance (+znear+)
|
|
1365
|
-
# * Far clip plane distance (+zfar+)
|
|
1366
|
-
#
|
|
1367
|
-
def perspectiveFovRH( fovy_radian, aspect, znear, zfar )
|
|
1368
|
-
f = Math::tan( fovy_radian / 2.0 )
|
|
1369
|
-
f = 1.0 / f
|
|
1370
|
-
|
|
1371
|
-
setIdentity()
|
|
1372
|
-
setElement( 0, 0, f / aspect )
|
|
1373
|
-
setElement( 1, 1, f )
|
|
1374
|
-
setElement( 2, 2, (zfar+znear)/(znear-zfar) )
|
|
1375
|
-
setElement( 2, 3, 2*zfar*znear/(znear-zfar) )
|
|
1376
|
-
setElement( 3, 2, -1.0 )
|
|
1377
|
-
setElement( 3, 3, 0.0 )
|
|
1378
|
-
|
|
1379
|
-
return self
|
|
1380
|
-
end
|
|
1381
|
-
|
|
1382
|
-
#
|
|
1383
|
-
# call-seq: perspectiveOffCenterRH(left,right,bottom,top,znear,zfar) -> self
|
|
1384
|
-
#
|
|
1385
|
-
# Builds a perspective projection matrix for a right-handed coordinate system from:
|
|
1386
|
-
# * Minimum value of the view volume width (+left+)
|
|
1387
|
-
# * Maximum value of the view volume width (+right+)
|
|
1388
|
-
# * Minimum value of the view volume height (+bottom+)
|
|
1389
|
-
# * Maximum value of the view volume height (+top+)
|
|
1390
|
-
# * Near clip plane distance (+znear+)
|
|
1391
|
-
# * Far clip plane distance (+zfar+)
|
|
1392
|
-
#
|
|
1393
|
-
def perspectiveOffCenterRH( left, right, bottom, top, znear, zfar )
|
|
1394
|
-
a = (right+left) / (right-left)
|
|
1395
|
-
b = (top+bottom) / (top-bottom)
|
|
1396
|
-
c = -(zfar+znear) / (zfar-znear)
|
|
1397
|
-
d = -(2*znear*zfar) / (zfar-znear)
|
|
1398
|
-
|
|
1399
|
-
setIdentity()
|
|
1400
|
-
|
|
1401
|
-
setElement( 0, 0, 2*znear/(right-left) )
|
|
1402
|
-
setElement( 0, 2, a )
|
|
1403
|
-
setElement( 1, 1, 2*znear/(top-bottom) )
|
|
1404
|
-
setElement( 1, 2, b )
|
|
1405
|
-
setElement( 2, 2, c )
|
|
1406
|
-
setElement( 2, 3, d )
|
|
1407
|
-
setElement( 3, 2, -1.0 )
|
|
1408
|
-
setElement( 3, 3, 0.0 )
|
|
1409
|
-
|
|
1410
|
-
return self
|
|
1411
|
-
end
|
|
1412
|
-
|
|
1413
|
-
#
|
|
1414
|
-
# call-seq: orthoRH(width,height,znear,zfar) -> self
|
|
1415
|
-
#
|
|
1416
|
-
# Builds a orthogonal projection matrix for a right-handed coordinate system from:
|
|
1417
|
-
# * View volume width (+width+)
|
|
1418
|
-
# * View volume height (+height+)
|
|
1419
|
-
# * Near clip plane distance (+znear+)
|
|
1420
|
-
# * Far clip plane distance (+zfar+)
|
|
1421
|
-
#
|
|
1422
|
-
def orthoRH( width, height, znear, zfar )
|
|
1423
|
-
orthoOffCenterRH( -width/2.0, width/2.0, -height/2.0, height/2.0, znear, zfar )
|
|
1424
|
-
return self
|
|
1425
|
-
end
|
|
1426
|
-
|
|
1427
|
-
#
|
|
1428
|
-
# call-seq: orthoOffCenterRH(left,right,bottom,top,znear,zfar) -> self
|
|
1429
|
-
#
|
|
1430
|
-
# Builds a orthogonal projection matrix for a right-handed coordinate system from:
|
|
1431
|
-
# * Minimum value of the view volume width (+left+)
|
|
1432
|
-
# * Maximum value of the view volume width (+right+)
|
|
1433
|
-
# * Minimum value of the view volume height (+bottom+)
|
|
1434
|
-
# * Maximum value of the view volume height (+top+)
|
|
1435
|
-
# * Near clip plane distance (+znear+)
|
|
1436
|
-
# * Far clip plane distance (+zfar+)
|
|
1437
|
-
#
|
|
1438
|
-
def orthoOffCenterRH( left, right, bottom, top, znear, zfar )
|
|
1439
|
-
tx = (right+left) / (right-left)
|
|
1440
|
-
ty = (top+bottom) / (top-bottom)
|
|
1441
|
-
tz = (zfar+znear) / (zfar-znear)
|
|
1442
|
-
|
|
1443
|
-
setIdentity()
|
|
1444
|
-
|
|
1445
|
-
setElement( 0, 0, 2.0/(right-left) )
|
|
1446
|
-
setElement( 0, 3, tx )
|
|
1447
|
-
setElement( 1, 1, 2.0/(top-bottom) )
|
|
1448
|
-
setElement( 1, 3, ty )
|
|
1449
|
-
setElement( 2, 2, -2.0/(zfar-znear) )
|
|
1450
|
-
setElement( 2, 3, tz )
|
|
1451
|
-
|
|
1452
|
-
return self
|
|
1453
|
-
end
|
|
1454
|
-
|
|
1455
1034
|
#
|
|
1456
1035
|
# call-seq: +
|
|
1457
1036
|
#
|
|
@@ -1467,7 +1046,7 @@ module RMath3D
|
|
|
1467
1046
|
# -mtx : Unary minus operator.
|
|
1468
1047
|
#
|
|
1469
1048
|
def -@
|
|
1470
|
-
return
|
|
1049
|
+
return RMtx3.new( self * -1.0 )
|
|
1471
1050
|
end
|
|
1472
1051
|
|
|
1473
1052
|
#
|
|
@@ -1476,14 +1055,14 @@ module RMath3D
|
|
|
1476
1055
|
# mtx1 + mtx2 : Binary plus operator.
|
|
1477
1056
|
#
|
|
1478
1057
|
def +( arg )
|
|
1479
|
-
if ( arg.class !=
|
|
1480
|
-
raise TypeError, "
|
|
1058
|
+
if ( arg.class != RMtx3 )
|
|
1059
|
+
raise TypeError, "RMtx3#+(arg) : Unknown type #{arg.class} given as RMtx3."
|
|
1481
1060
|
return nil
|
|
1482
1061
|
end
|
|
1483
1062
|
|
|
1484
|
-
result =
|
|
1485
|
-
for row in 0...
|
|
1486
|
-
for col in 0...
|
|
1063
|
+
result = RMtx3.new
|
|
1064
|
+
for row in 0...3 do
|
|
1065
|
+
for col in 0...3 do
|
|
1487
1066
|
result.setElement( row, col, getElement(row,col) + arg.getElement(row,col) )
|
|
1488
1067
|
end
|
|
1489
1068
|
end
|
|
@@ -1497,14 +1076,14 @@ module RMath3D
|
|
|
1497
1076
|
# mtx1 - mtx2 : Binary minus operator.
|
|
1498
1077
|
#
|
|
1499
1078
|
def -( arg )
|
|
1500
|
-
if ( arg.class !=
|
|
1501
|
-
raise TypeError, "
|
|
1079
|
+
if ( arg.class != RMtx3 )
|
|
1080
|
+
raise TypeError, "RMtx3#-(arg) : Unknown type #{arg.class} given as RMtx3."
|
|
1502
1081
|
return nil
|
|
1503
1082
|
end
|
|
1504
1083
|
|
|
1505
|
-
result =
|
|
1506
|
-
for row in 0...
|
|
1507
|
-
for col in 0...
|
|
1084
|
+
result = RMtx3.new
|
|
1085
|
+
for row in 0...3 do
|
|
1086
|
+
for col in 0...3 do
|
|
1508
1087
|
result.setElement( row, col, getElement(row,col) - arg.getElement(row,col) )
|
|
1509
1088
|
end
|
|
1510
1089
|
end
|
|
@@ -1519,18 +1098,17 @@ module RMath3D
|
|
|
1519
1098
|
#
|
|
1520
1099
|
def *( arg )
|
|
1521
1100
|
case arg
|
|
1522
|
-
when
|
|
1523
|
-
return
|
|
1524
|
-
arg*self.e10, arg*self.e11, arg*self.e12,
|
|
1525
|
-
arg*self.e20, arg*self.e21, arg*self.e22
|
|
1526
|
-
arg*self.e30, arg*self.e31, arg*self.e32, arg*self.e33 )
|
|
1101
|
+
when Float, Integer
|
|
1102
|
+
return RMtx3.new( arg*self.e00, arg*self.e01, arg*self.e02,
|
|
1103
|
+
arg*self.e10, arg*self.e11, arg*self.e12,
|
|
1104
|
+
arg*self.e20, arg*self.e21, arg*self.e22 )
|
|
1527
1105
|
|
|
1528
|
-
when
|
|
1529
|
-
result =
|
|
1530
|
-
for row in 0...
|
|
1531
|
-
for col in 0...
|
|
1106
|
+
when RMtx3
|
|
1107
|
+
result = RMtx3.new
|
|
1108
|
+
for row in 0...3 do
|
|
1109
|
+
for col in 0...3 do
|
|
1532
1110
|
sum = 0.0
|
|
1533
|
-
for i in 0...
|
|
1111
|
+
for i in 0...3 do
|
|
1534
1112
|
sum += getElement( row, i ) * arg.getElement( i, col )
|
|
1535
1113
|
end
|
|
1536
1114
|
result.setElement( row, col, sum )
|
|
@@ -1539,7 +1117,7 @@ module RMath3D
|
|
|
1539
1117
|
return result
|
|
1540
1118
|
|
|
1541
1119
|
else
|
|
1542
|
-
raise TypeError, "
|
|
1120
|
+
raise TypeError, "RMtx3#*(arg) : Unknown type #{arg.class} given."
|
|
1543
1121
|
return nil
|
|
1544
1122
|
end
|
|
1545
1123
|
end
|
|
@@ -1550,19 +1128,18 @@ module RMath3D
|
|
|
1550
1128
|
# mtx1 == mtx2 : evaluates equality.
|
|
1551
1129
|
#
|
|
1552
1130
|
def ==( other )
|
|
1553
|
-
if
|
|
1554
|
-
|
|
1555
|
-
|
|
1556
|
-
|
|
1557
|
-
|
|
1558
|
-
|
|
1559
|
-
|
|
1560
|
-
|
|
1561
|
-
|
|
1562
|
-
|
|
1563
|
-
|
|
1131
|
+
if other.class == RMtx3
|
|
1132
|
+
for row in 0...3 do
|
|
1133
|
+
for col in 0...3 do
|
|
1134
|
+
if ( (getElement(row,col) - other.getElement(row,col)).abs > TOLERANCE )
|
|
1135
|
+
return false
|
|
1136
|
+
end
|
|
1137
|
+
end
|
|
1138
|
+
end
|
|
1139
|
+
return true
|
|
1140
|
+
else
|
|
1141
|
+
return false
|
|
1564
1142
|
end
|
|
1565
|
-
return true
|
|
1566
1143
|
end
|
|
1567
1144
|
|
|
1568
1145
|
#
|
|
@@ -1571,14 +1148,14 @@ module RMath3D
|
|
|
1571
1148
|
# mtx1 += mtx2 : appends the elements of +mtx2+ into corresponding +mtx1+ elements.
|
|
1572
1149
|
#
|
|
1573
1150
|
def add!( other )
|
|
1574
|
-
if ( other.class !=
|
|
1575
|
-
raise TypeError, "
|
|
1151
|
+
if ( other.class != RMtx3 )
|
|
1152
|
+
raise TypeError, "RMtx3#add! : Unknown type #{other.class} given as RMtx3."
|
|
1576
1153
|
return nil
|
|
1577
1154
|
end
|
|
1578
1155
|
|
|
1579
|
-
result =
|
|
1580
|
-
for row in 0...
|
|
1581
|
-
for col in 0...
|
|
1156
|
+
result = RMtx3.new
|
|
1157
|
+
for row in 0...3 do
|
|
1158
|
+
for col in 0...3 do
|
|
1582
1159
|
self.setElement( row, col, getElement(row,col) + other.getElement(row,col) )
|
|
1583
1160
|
end
|
|
1584
1161
|
end
|
|
@@ -1592,14 +1169,14 @@ module RMath3D
|
|
|
1592
1169
|
# mtx1 -= mtx2 : subtracts the elements of +mtx2+ from corresponding +mtx1+ elements.
|
|
1593
1170
|
#
|
|
1594
1171
|
def sub!( other )
|
|
1595
|
-
if ( other.class !=
|
|
1596
|
-
raise TypeError, "
|
|
1172
|
+
if ( other.class != RMtx3 )
|
|
1173
|
+
raise TypeError, "RMtx3#sub! : Unknown type #{other.class} given as RMtx3."
|
|
1597
1174
|
return nil
|
|
1598
1175
|
end
|
|
1599
1176
|
|
|
1600
|
-
result =
|
|
1601
|
-
for row in 0...
|
|
1602
|
-
for col in 0...
|
|
1177
|
+
result = RMtx3.new
|
|
1178
|
+
for row in 0...3 do
|
|
1179
|
+
for col in 0...3 do
|
|
1603
1180
|
self.setElement( row, col, getElement(row,col) - other.getElement(row,col) )
|
|
1604
1181
|
end
|
|
1605
1182
|
end
|
|
@@ -1614,35 +1191,24 @@ module RMath3D
|
|
|
1614
1191
|
#
|
|
1615
1192
|
def mul!( other )
|
|
1616
1193
|
case other
|
|
1617
|
-
when
|
|
1194
|
+
when Float, Integer
|
|
1618
1195
|
self.e00 = other*self.e00
|
|
1619
1196
|
self.e01 = other*self.e01
|
|
1620
1197
|
self.e02 = other*self.e02
|
|
1621
|
-
self.e03 = other*self.e03
|
|
1622
|
-
|
|
1623
1198
|
self.e10 = other*self.e10
|
|
1624
1199
|
self.e11 = other*self.e11
|
|
1625
1200
|
self.e12 = other*self.e12
|
|
1626
|
-
self.e13 = other*self.e13
|
|
1627
|
-
|
|
1628
1201
|
self.e20 = other*self.e20
|
|
1629
1202
|
self.e21 = other*self.e21
|
|
1630
1203
|
self.e22 = other*self.e22
|
|
1631
|
-
self.e23 = other*self.e23
|
|
1632
|
-
|
|
1633
|
-
self.e30 = other*self.e30
|
|
1634
|
-
self.e31 = other*self.e31
|
|
1635
|
-
self.e32 = other*self.e32
|
|
1636
|
-
self.e33 = other*self.e33
|
|
1637
1204
|
|
|
1638
1205
|
return self
|
|
1639
|
-
|
|
1640
|
-
|
|
1641
|
-
|
|
1642
|
-
|
|
1643
|
-
for col in 0...4 do
|
|
1206
|
+
when RMtx3
|
|
1207
|
+
result = RMtx3.new
|
|
1208
|
+
for row in 0...3 do
|
|
1209
|
+
for col in 0...3 do
|
|
1644
1210
|
sum = 0.0
|
|
1645
|
-
for i in 0...
|
|
1211
|
+
for i in 0...3 do
|
|
1646
1212
|
sum += getElement( row, i ) * other.getElement( i, col )
|
|
1647
1213
|
end
|
|
1648
1214
|
result.setElement( row, col, sum )
|
|
@@ -1652,22 +1218,12 @@ module RMath3D
|
|
|
1652
1218
|
self.e00 = result.e00
|
|
1653
1219
|
self.e01 = result.e01
|
|
1654
1220
|
self.e02 = result.e02
|
|
1655
|
-
self.e03 = result.e03
|
|
1656
|
-
|
|
1657
1221
|
self.e10 = result.e10
|
|
1658
1222
|
self.e11 = result.e11
|
|
1659
1223
|
self.e12 = result.e12
|
|
1660
|
-
self.e13 = result.e13
|
|
1661
|
-
|
|
1662
1224
|
self.e20 = result.e20
|
|
1663
1225
|
self.e21 = result.e21
|
|
1664
1226
|
self.e22 = result.e22
|
|
1665
|
-
self.e23 = result.e23
|
|
1666
|
-
|
|
1667
|
-
self.e30 = result.e30
|
|
1668
|
-
self.e31 = result.e31
|
|
1669
|
-
self.e32 = result.e32
|
|
1670
|
-
self.e33 = result.e33
|
|
1671
1227
|
|
|
1672
1228
|
return self
|
|
1673
1229
|
end
|
|
@@ -1675,49 +1231,68 @@ module RMath3D
|
|
|
1675
1231
|
end
|
|
1676
1232
|
|
|
1677
1233
|
#
|
|
1678
|
-
# Document-class: RMath3D::
|
|
1679
|
-
# provies
|
|
1234
|
+
# Document-class: RMath3D::RMtx4
|
|
1235
|
+
# provies 4x4 matrix arithmetic.
|
|
1680
1236
|
#
|
|
1681
|
-
|
|
1237
|
+
# <b>Notice</b>
|
|
1238
|
+
# * elements are stored in column-major order.
|
|
1239
|
+
#
|
|
1240
|
+
class RMtx4
|
|
1682
1241
|
|
|
1683
1242
|
#
|
|
1684
1243
|
# call-seq:
|
|
1685
|
-
#
|
|
1686
|
-
#
|
|
1687
|
-
#
|
|
1688
|
-
#
|
|
1244
|
+
# RMtx4.new -> ((1,0,0,0),(0,1,0,0),(0,0,1,0),(0,0,0,1))
|
|
1245
|
+
# RMtx4.new(e) -> ((e,e,e,e),(e,e,e,e),(e,e,e,e),(e,e,e,e))
|
|
1246
|
+
# RMtx4.new( other ) : Copy Constructor
|
|
1247
|
+
# RMtx4.new( e0, e1, ..., e15 ) -> ((e0,e1,e2,e3),(e4,e5,e6,e7),(e8,e9,e10,e11),(e12,e13,e14,e15))
|
|
1689
1248
|
#
|
|
1690
|
-
# Creates a new
|
|
1249
|
+
# Creates a new 4x4 matrix.
|
|
1691
1250
|
#
|
|
1692
1251
|
def initialize( *a )
|
|
1252
|
+
# [NOTE] elemetns are stored in column-major order.
|
|
1693
1253
|
@e = []
|
|
1694
1254
|
case a.length
|
|
1695
1255
|
when 0
|
|
1696
|
-
@e = [0.0, 0.0, 0.0, 0.0
|
|
1256
|
+
@e = [ 0.0, 0.0, 0.0, 0.0,
|
|
1257
|
+
0.0, 0.0, 0.0, 0.0,
|
|
1258
|
+
0.0, 0.0, 0.0, 0.0,
|
|
1259
|
+
0.0, 0.0, 0.0, 0.0 ]
|
|
1697
1260
|
when 1
|
|
1698
1261
|
case a[0]
|
|
1699
|
-
when
|
|
1700
|
-
@e = [ a[0], a[0], a[0], a[0]
|
|
1701
|
-
|
|
1702
|
-
|
|
1262
|
+
when Float, Integer
|
|
1263
|
+
@e = [ a[0], a[0], a[0], a[0],
|
|
1264
|
+
a[0], a[0], a[0], a[0],
|
|
1265
|
+
a[0], a[0], a[0], a[0],
|
|
1266
|
+
a[0], a[0], a[0], a[0] ]
|
|
1267
|
+
when RMtx4
|
|
1268
|
+
# Copy Constructor
|
|
1269
|
+
@e = [ a[0].e00, a[0].e10, a[0].e20, a[0].e30,
|
|
1270
|
+
a[0].e01, a[0].e11, a[0].e21, a[0].e31,
|
|
1271
|
+
a[0].e02, a[0].e12, a[0].e22, a[0].e32,
|
|
1272
|
+
a[0].e03, a[0].e13, a[0].e23, a[0].e33 ]
|
|
1703
1273
|
else
|
|
1704
|
-
raise TypeError, "
|
|
1274
|
+
raise TypeError, "RMtx4#initialize : Unknown type #{a[0].class}."
|
|
1705
1275
|
return nil
|
|
1706
1276
|
end
|
|
1707
|
-
when
|
|
1708
|
-
|
|
1709
|
-
|
|
1710
|
-
|
|
1711
|
-
|
|
1712
|
-
|
|
1713
|
-
|
|
1714
|
-
|
|
1277
|
+
when 16
|
|
1278
|
+
# Element-wise setter
|
|
1279
|
+
for row in 0...4 do
|
|
1280
|
+
for col in 0...4 do
|
|
1281
|
+
index = 4*row + col
|
|
1282
|
+
case a[index]
|
|
1283
|
+
when Float, Integer
|
|
1284
|
+
setElement( row, col, a[index] )
|
|
1285
|
+
else
|
|
1286
|
+
raise TypeError, "RMtx4#initialize : Unknown type #{a[0].class}."
|
|
1287
|
+
return nil
|
|
1288
|
+
end
|
|
1715
1289
|
end
|
|
1716
1290
|
end
|
|
1717
1291
|
else
|
|
1718
|
-
raise RuntimeError, "
|
|
1292
|
+
raise RuntimeError, "RMtx4#initialize : wrong # of arguments (#{a.length})"
|
|
1719
1293
|
return nil
|
|
1720
1294
|
end
|
|
1295
|
+
|
|
1721
1296
|
return self
|
|
1722
1297
|
end
|
|
1723
1298
|
|
|
@@ -1727,7 +1302,10 @@ module RMath3D
|
|
|
1727
1302
|
# Returns human-readable string.
|
|
1728
1303
|
#
|
|
1729
1304
|
def to_s
|
|
1730
|
-
|
|
1305
|
+
"( #{@e[0]}, #{@e[4]}, #{@e[8]}, #{@e[12]} )\n" +
|
|
1306
|
+
"( #{@e[1]}, #{@e[5]}, #{@e[9]}, #{@e[13]} )\n" +
|
|
1307
|
+
"( #{@e[2]}, #{@e[6]}, #{@e[10]}, #{@e[14]} )\n" +
|
|
1308
|
+
"( #{@e[3]}, #{@e[7]}, #{@e[11]}, #{@e[15]} )\n"
|
|
1731
1309
|
end
|
|
1732
1310
|
|
|
1733
1311
|
#
|
|
@@ -1744,266 +1322,1722 @@ module RMath3D
|
|
|
1744
1322
|
#
|
|
1745
1323
|
# Resolves type mismatch.
|
|
1746
1324
|
#
|
|
1747
|
-
def coerce
|
|
1325
|
+
def coerce
|
|
1748
1326
|
case arg
|
|
1749
|
-
when
|
|
1327
|
+
when Float, Integer
|
|
1750
1328
|
return [ self, arg ]
|
|
1751
1329
|
else
|
|
1752
|
-
raise TypeError, "
|
|
1330
|
+
raise TypeError, "RMtx4#coerce : #{arg.self} can't be coerced into #{self.class}."
|
|
1753
1331
|
return nil
|
|
1754
1332
|
end
|
|
1755
1333
|
end
|
|
1756
1334
|
|
|
1757
1335
|
#
|
|
1758
|
-
# call-seq: setElements( e0, e1,
|
|
1336
|
+
# call-seq: setElements( e0, e1, ..., e15 )
|
|
1759
1337
|
#
|
|
1760
|
-
# Stores given
|
|
1338
|
+
# Stores given 16 new values.
|
|
1761
1339
|
#
|
|
1762
|
-
def setElements(
|
|
1763
|
-
|
|
1764
|
-
|
|
1765
|
-
|
|
1766
|
-
|
|
1340
|
+
def setElements( *a )
|
|
1341
|
+
if a.length != 16
|
|
1342
|
+
raise RuntimeError, "RMtx4#setElements : wrong # of arguments (#{a.length})"
|
|
1343
|
+
return nil
|
|
1344
|
+
end
|
|
1345
|
+
|
|
1346
|
+
for row in 0...4 do
|
|
1347
|
+
for col in 0...4 do
|
|
1348
|
+
index = 4*row + col
|
|
1349
|
+
setElement( row, col, a[index] )
|
|
1350
|
+
end
|
|
1351
|
+
end
|
|
1767
1352
|
end
|
|
1768
1353
|
|
|
1769
1354
|
#
|
|
1770
|
-
# call-seq:
|
|
1355
|
+
# call-seq: [row,col]= value
|
|
1771
1356
|
#
|
|
1772
|
-
# Stores +value+ at +
|
|
1357
|
+
# Stores +value+ at (+row+,+col+).
|
|
1773
1358
|
#
|
|
1774
|
-
def []=(
|
|
1775
|
-
|
|
1359
|
+
def []=(row,col,value)
|
|
1360
|
+
# [NOTE] elemetns are stored in column-major order.
|
|
1361
|
+
@e[col*4+row] = value
|
|
1776
1362
|
end
|
|
1363
|
+
alias_method :setElement, :'[]='
|
|
1777
1364
|
|
|
1778
1365
|
#
|
|
1779
|
-
# call-seq:
|
|
1366
|
+
# call-seq: [row,col] -> value
|
|
1780
1367
|
#
|
|
1781
|
-
#
|
|
1368
|
+
# Returns the element at (+row+,+col+).
|
|
1782
1369
|
#
|
|
1783
|
-
def
|
|
1370
|
+
def [](row,col)
|
|
1371
|
+
# [NOTE] elemetns are stored in column-major order.
|
|
1372
|
+
return @e[col*4+row]
|
|
1373
|
+
end
|
|
1374
|
+
alias_method :getElement, :'[]'
|
|
1375
|
+
|
|
1376
|
+
# Returns the element at row 0 and column 0.
|
|
1377
|
+
def e00() getElement(0,0) end
|
|
1378
|
+
# Returns the element at row 0 and column 1.
|
|
1379
|
+
def e01() getElement(0,1) end
|
|
1380
|
+
# Returns the element at row 0 and column 2.
|
|
1381
|
+
def e02() getElement(0,2) end
|
|
1382
|
+
# Returns the element at row 0 and column 3.
|
|
1383
|
+
def e03() getElement(0,3) end
|
|
1384
|
+
# Returns the element at row 1 and column 0.
|
|
1385
|
+
def e10() getElement(1,0) end
|
|
1386
|
+
# Returns the element at row 1 and column 1.
|
|
1387
|
+
def e11() getElement(1,1) end
|
|
1388
|
+
# Returns the element at row 1 and column 2.
|
|
1389
|
+
def e12() getElement(1,2) end
|
|
1390
|
+
# Returns the element at row 1 and column 3.
|
|
1391
|
+
def e13() getElement(1,3) end
|
|
1392
|
+
# Returns the element at row 2 and column 0.
|
|
1393
|
+
def e20() getElement(2,0) end
|
|
1394
|
+
# Returns the element at row 2 and column 1.
|
|
1395
|
+
def e21() getElement(2,1) end
|
|
1396
|
+
# Returns the element at row 2 and column 2.
|
|
1397
|
+
def e22() getElement(2,2) end
|
|
1398
|
+
# Returns the element at row 2 and column 3.
|
|
1399
|
+
def e23() getElement(2,3) end
|
|
1400
|
+
# Returns the element at row 3 and column 0.
|
|
1401
|
+
def e30() getElement(3,0) end
|
|
1402
|
+
# Returns the element at row 3 and column 1.
|
|
1403
|
+
def e31() getElement(3,1) end
|
|
1404
|
+
# Returns the element at row 3 and column 2.
|
|
1405
|
+
def e32() getElement(3,2) end
|
|
1406
|
+
# Returns the element at row 3 and column 3.
|
|
1407
|
+
def e33() getElement(3,3) end
|
|
1408
|
+
|
|
1409
|
+
# Replaces the element at row 0 and column 0 by +value+.
|
|
1410
|
+
def e00=(value) setElement(0,0,value) end
|
|
1411
|
+
# Replaces the element at row 0 and column 1 by +value+.
|
|
1412
|
+
def e01=(value) setElement(0,1,value) end
|
|
1413
|
+
# Replaces the element at row 0 and column 2 by +value+.
|
|
1414
|
+
def e02=(value) setElement(0,2,value) end
|
|
1415
|
+
# Replaces the element at row 0 and column 3 by +value+.
|
|
1416
|
+
def e03=(value) setElement(0,3,value) end
|
|
1417
|
+
# Replaces the element at row 1 and column 0 by +value+.
|
|
1418
|
+
def e10=(value) setElement(1,0,value) end
|
|
1419
|
+
# Replaces the element at row 1 and column 1 by +value+.
|
|
1420
|
+
def e11=(value) setElement(1,1,value) end
|
|
1421
|
+
# Replaces the element at row 1 and column 2 by +value+.
|
|
1422
|
+
def e12=(value) setElement(1,2,value) end
|
|
1423
|
+
# Replaces the element at row 1 and column 3 by +value+.
|
|
1424
|
+
def e13=(value) setElement(1,3,value) end
|
|
1425
|
+
# Replaces the element at row 2 and column 0 by +value+.
|
|
1426
|
+
def e20=(value) setElement(2,0,value) end
|
|
1427
|
+
# Replaces the element at row 2 and column 1 by +value+.
|
|
1428
|
+
def e21=(value) setElement(2,1,value) end
|
|
1429
|
+
# Replaces the element at row 2 and column 2 by +value+.
|
|
1430
|
+
def e22=(value) setElement(2,2,value) end
|
|
1431
|
+
# Replaces the element at row 2 and column 3 by +value+.
|
|
1432
|
+
def e23=(value) setElement(2,3,value) end
|
|
1433
|
+
# Replaces the element at row 3 and column 0 by +value+.
|
|
1434
|
+
def e30=(value) setElement(3,0,value) end
|
|
1435
|
+
# Replaces the element at row 3 and column 1 by +value+.
|
|
1436
|
+
def e31=(value) setElement(3,1,value) end
|
|
1437
|
+
# Replaces the element at row 3 and column 2 by +value+.
|
|
1438
|
+
def e32=(value) setElement(3,2,value) end
|
|
1439
|
+
# Replaces the element at row 3 and column 3 by +value+.
|
|
1440
|
+
def e33=(value) setElement(3,3,value) end
|
|
1784
1441
|
|
|
1785
1442
|
#
|
|
1786
|
-
# call-seq:
|
|
1443
|
+
# call-seq: mtx4.getRow(r) -> RVec4
|
|
1787
1444
|
#
|
|
1788
|
-
#
|
|
1445
|
+
# Returns +r+-th row vector.
|
|
1789
1446
|
#
|
|
1790
|
-
def
|
|
1447
|
+
def getRow( row )
|
|
1448
|
+
return RVec4.new( self[row,0], self[row,1], self[row,2], self[row,3] )
|
|
1449
|
+
end
|
|
1791
1450
|
|
|
1792
1451
|
#
|
|
1793
|
-
# call-seq:
|
|
1452
|
+
# call-seq: mtx4.getColumn(c) -> RVec4
|
|
1794
1453
|
#
|
|
1795
|
-
#
|
|
1454
|
+
# Returns +c+-th column vector.
|
|
1796
1455
|
#
|
|
1797
|
-
def
|
|
1456
|
+
def getColumn( column )
|
|
1457
|
+
return RVec4.new( self[0,column], self[1,column], self[2,column], self[3,column] )
|
|
1458
|
+
end
|
|
1798
1459
|
|
|
1799
1460
|
#
|
|
1800
|
-
# call-seq:
|
|
1461
|
+
# call-seq: mtx4.setRow(v,r)
|
|
1801
1462
|
#
|
|
1802
|
-
#
|
|
1463
|
+
# Returns sets +r+-th row by vector +v+.
|
|
1803
1464
|
#
|
|
1804
|
-
def
|
|
1465
|
+
def setRow( v, row )
|
|
1466
|
+
self[row,0] = v.x
|
|
1467
|
+
self[row,1] = v.y
|
|
1468
|
+
self[row,2] = v.z
|
|
1469
|
+
self[row,3] = v.w
|
|
1470
|
+
end
|
|
1471
|
+
|
|
1472
|
+
#
|
|
1473
|
+
# call-seq: mtx4.setColumn(v,c)
|
|
1474
|
+
#
|
|
1475
|
+
# Returns sets +c+-th column by vector +v+.
|
|
1476
|
+
#
|
|
1477
|
+
def setColumn( v, column )
|
|
1478
|
+
self[0,column] = v.x
|
|
1479
|
+
self[1,column] = v.y
|
|
1480
|
+
self[2,column] = v.z
|
|
1481
|
+
self[3,column] = v.w
|
|
1482
|
+
end
|
|
1483
|
+
|
|
1484
|
+
def getUpper3x3
|
|
1485
|
+
return RMtx3.new( self.e00, self.e01, self.e02,
|
|
1486
|
+
self.e10, self.e11, self.e12,
|
|
1487
|
+
self.e20, self.e21, self.e22 )
|
|
1488
|
+
end
|
|
1489
|
+
|
|
1490
|
+
def setUpper3x3( mtx3x3 )
|
|
1491
|
+
self.e00 = mtx3x3.e00
|
|
1492
|
+
self.e01 = mtx3x3.e01
|
|
1493
|
+
self.e02 = mtx3x3.e02
|
|
1494
|
+
self.e10 = mtx3x3.e10
|
|
1495
|
+
self.e11 = mtx3x3.e11
|
|
1496
|
+
self.e12 = mtx3x3.e12
|
|
1497
|
+
self.e20 = mtx3x3.e20
|
|
1498
|
+
self.e21 = mtx3x3.e21
|
|
1499
|
+
self.e22 = mtx3x3.e22
|
|
1500
|
+
|
|
1501
|
+
return self
|
|
1502
|
+
end
|
|
1503
|
+
|
|
1504
|
+
# call-seq: setZero
|
|
1505
|
+
#
|
|
1506
|
+
# Clears all elements by 0.0
|
|
1507
|
+
#
|
|
1508
|
+
def setZero
|
|
1509
|
+
16.times do |i|
|
|
1510
|
+
@e[i] = 0.0
|
|
1511
|
+
end
|
|
1512
|
+
return self
|
|
1513
|
+
end
|
|
1514
|
+
|
|
1515
|
+
#
|
|
1516
|
+
# call-seq: setIdentity
|
|
1517
|
+
#
|
|
1518
|
+
# Sets as identity matrix.
|
|
1519
|
+
#
|
|
1520
|
+
def setIdentity
|
|
1521
|
+
for row in 0...4 do
|
|
1522
|
+
for col in 0...4 do
|
|
1523
|
+
index = 4*row + col
|
|
1524
|
+
if ( row == col )
|
|
1525
|
+
setElement( row, col, 1.0 )
|
|
1526
|
+
else
|
|
1527
|
+
setElement( row, col, 0.0 )
|
|
1528
|
+
end
|
|
1529
|
+
end
|
|
1530
|
+
end
|
|
1531
|
+
return self
|
|
1532
|
+
end
|
|
1533
|
+
|
|
1534
|
+
def det3( _e00,_e01,_e02, _e10,_e11,_e12, _e20,_e21,_e22 )
|
|
1535
|
+
_e00 * (_e11*_e22 - _e12*_e21) -
|
|
1536
|
+
_e01 * (_e10*_e22 - _e12*_e20) +
|
|
1537
|
+
_e02 * (_e10*_e21 - _e11*_e20)
|
|
1538
|
+
end
|
|
1539
|
+
private :det3
|
|
1540
|
+
|
|
1541
|
+
#
|
|
1542
|
+
# call-seq: getDeterminant -> determinant
|
|
1543
|
+
#
|
|
1544
|
+
# Calculates determinant.
|
|
1545
|
+
#
|
|
1546
|
+
def getDeterminant
|
|
1547
|
+
e00 * det3( e11,e12,e13, e21,e22,e23, e31,e32,e33 ) -
|
|
1548
|
+
e01 * det3( e10,e12,e13, e20,e22,e23, e30,e32,e33 ) +
|
|
1549
|
+
e02 * det3( e10,e11,e13, e20,e21,e23, e30,e31,e33 ) -
|
|
1550
|
+
e03 * det3( e10,e11,e12, e20,e21,e22, e30,e31,e32 )
|
|
1551
|
+
end
|
|
1552
|
+
|
|
1553
|
+
#
|
|
1554
|
+
# call-seq: getTransposed
|
|
1555
|
+
#
|
|
1556
|
+
# Returns transposed matrix.
|
|
1557
|
+
#
|
|
1558
|
+
def getTransposed
|
|
1559
|
+
return RMtx4.new( @e[ 0], @e[ 1], @e[ 2], @e[ 3],
|
|
1560
|
+
@e[ 4], @e[ 5], @e[ 6], @e[ 7],
|
|
1561
|
+
@e[ 8], @e[ 9], @e[10], @e[11],
|
|
1562
|
+
@e[12], @e[13], @e[14], @e[15] )
|
|
1563
|
+
end
|
|
1564
|
+
|
|
1565
|
+
#
|
|
1566
|
+
# call-seq: transpose!
|
|
1567
|
+
#
|
|
1568
|
+
# Transposeas its elements.
|
|
1569
|
+
#
|
|
1570
|
+
def transpose!
|
|
1571
|
+
@e[ 1], @e[ 4] = @e[ 4], @e[ 1]
|
|
1572
|
+
@e[ 2], @e[ 8] = @e[ 8], @e[ 2]
|
|
1573
|
+
@e[ 3], @e[12] = @e[12], @e[ 3]
|
|
1574
|
+
@e[ 6], @e[ 9] = @e[ 9], @e[ 6]
|
|
1575
|
+
@e[ 7], @e[13] = @e[13], @e[ 7]
|
|
1576
|
+
@e[11], @e[14] = @e[14], @e[11]
|
|
1577
|
+
end
|
|
1578
|
+
|
|
1579
|
+
#
|
|
1580
|
+
# call-seq: getInverse -> inverse
|
|
1581
|
+
#
|
|
1582
|
+
# Returns the inverse.
|
|
1583
|
+
#
|
|
1584
|
+
def getInverse
|
|
1585
|
+
result = RMtx4.new
|
|
1586
|
+
|
|
1587
|
+
result.e00 = det3( e11,e12,e13, e21,e22,e23, e31,e32,e33 )
|
|
1588
|
+
result.e01 = -det3( e01,e02,e03, e21,e22,e23, e31,e32,e33 )
|
|
1589
|
+
result.e02 = det3( e01,e02,e03, e11,e12,e13, e31,e32,e33 )
|
|
1590
|
+
result.e03 = -det3( e01,e02,e03, e11,e12,e13, e21,e22,e23 )
|
|
1591
|
+
|
|
1592
|
+
result.e10 = -det3( e10,e12,e13, e20,e22,e23, e30,e32,e33 )
|
|
1593
|
+
result.e11 = det3( e00,e02,e03, e20,e22,e23, e30,e32,e33 )
|
|
1594
|
+
result.e12 = -det3( e00,e02,e03, e10,e12,e13, e30,e32,e33 )
|
|
1595
|
+
result.e13 = det3( e00,e02,e03, e10,e12,e13, e20,e22,e23 )
|
|
1596
|
+
|
|
1597
|
+
result.e20 = det3( e10,e11,e13, e20,e21,e23, e30,e31,e33 )
|
|
1598
|
+
result.e21 = -det3( e00,e01,e03, e20,e21,e23, e30,e31,e33 )
|
|
1599
|
+
result.e22 = det3( e00,e01,e03, e10,e11,e13, e30,e31,e33 )
|
|
1600
|
+
result.e23 = -det3( e00,e01,e03, e10,e11,e13, e20,e21,e23 )
|
|
1601
|
+
|
|
1602
|
+
result.e30 = -det3( e10,e11,e12, e20,e21,e22, e30,e31,e32 )
|
|
1603
|
+
result.e31 = det3( e00,e01,e02, e20,e21,e22, e30,e31,e32 )
|
|
1604
|
+
result.e32 = -det3( e00,e01,e02, e10,e11,e12, e30,e31,e32 )
|
|
1605
|
+
result.e33 = det3( e00,e01,e02, e10,e11,e12, e20,e21,e22 )
|
|
1606
|
+
|
|
1607
|
+
det = e00 * result.e00 + e01 * result.e10 + e02 * result.e20 + e03 * result.e30
|
|
1608
|
+
|
|
1609
|
+
if ( det.abs < TOLERANCE )
|
|
1610
|
+
raise RuntimeError, "RMtx4#getInverse : det.abs < TOLERANCE"
|
|
1611
|
+
return nil
|
|
1612
|
+
end
|
|
1613
|
+
|
|
1614
|
+
d = 1.0 / det
|
|
1615
|
+
|
|
1616
|
+
result.mul!( d )
|
|
1617
|
+
|
|
1618
|
+
return result
|
|
1619
|
+
end
|
|
1620
|
+
|
|
1621
|
+
#
|
|
1622
|
+
# call-seq: invert! -> self
|
|
1623
|
+
#
|
|
1624
|
+
# Makes itself as the inverse of the original matrix.
|
|
1625
|
+
#
|
|
1626
|
+
def invert!
|
|
1627
|
+
elements = Array.new( 16 )
|
|
1628
|
+
|
|
1629
|
+
elements[4*0+0] = det3( self.e11,self.e12,self.e13, self.e21,self.e22,self.e23, self.e31,self.e32,self.e33 )
|
|
1630
|
+
elements[4*0+1] = -det3( self.e01,self.e02,self.e03, self.e21,self.e22,self.e23, self.e31,self.e32,self.e33 )
|
|
1631
|
+
elements[4*0+2] = det3( self.e01,self.e02,self.e03, self.e11,self.e12,self.e13, self.e31,self.e32,self.e33 )
|
|
1632
|
+
elements[4*0+3] = -det3( self.e01,self.e02,self.e03, self.e11,self.e12,self.e13, self.e21,self.e22,self.e23 )
|
|
1633
|
+
|
|
1634
|
+
elements[4*1+0] = -det3( self.e10,self.e12,self.e13, self.e20,self.e22,self.e23, self.e30,self.e32,self.e33 )
|
|
1635
|
+
elements[4*1+1] = det3( self.e00,self.e02,self.e03, self.e20,self.e22,self.e23, self.e30,self.e32,self.e33 )
|
|
1636
|
+
elements[4*1+2] = -det3( self.e00,self.e02,self.e03, self.e10,self.e12,self.e13, self.e30,self.e32,self.e33 )
|
|
1637
|
+
elements[4*1+3] = det3( self.e00,self.e02,self.e03, self.e10,self.e12,self.e13, self.e20,self.e22,self.e23 )
|
|
1638
|
+
|
|
1639
|
+
elements[4*2+0] = det3( self.e10,self.e11,self.e13, self.e20,self.e21,self.e23, self.e30,self.e31,self.e33 )
|
|
1640
|
+
elements[4*2+1] = -det3( self.e00,self.e01,self.e03, self.e20,self.e21,self.e23, self.e30,self.e31,self.e33 )
|
|
1641
|
+
elements[4*2+2] = det3( self.e00,self.e01,self.e03, self.e10,self.e11,self.e13, self.e30,self.e31,self.e33 )
|
|
1642
|
+
elements[4*2+3] = -det3( self.e00,self.e01,self.e03, self.e10,self.e11,self.e13, self.e20,self.e21,self.e23 )
|
|
1643
|
+
|
|
1644
|
+
elements[4*3+0] = -det3( self.e10,self.e11,self.e12, self.e20,self.e21,self.e22, self.e30,self.e31,self.e32 )
|
|
1645
|
+
elements[4*3+1] = det3( self.e00,self.e01,self.e02, self.e20,self.e21,self.e22, self.e30,self.e31,self.e32 )
|
|
1646
|
+
elements[4*3+2] = -det3( self.e00,self.e01,self.e02, self.e10,self.e11,self.e12, self.e30,self.e31,self.e32 )
|
|
1647
|
+
elements[4*3+3] = det3( self.e00,self.e01,self.e02, self.e10,self.e11,self.e12, self.e20,self.e21,self.e22 )
|
|
1648
|
+
|
|
1649
|
+
det = e00 * elements[4*0+0] + e01 * elements[4*1+0] + e02 * elements[4*2+0] + e03 * elements[4*3+0]
|
|
1650
|
+
|
|
1651
|
+
if ( det.abs< TOLERANCE )
|
|
1652
|
+
raise RuntimeError, "RMtx4invert! : det.abs < TOLERANCE"
|
|
1653
|
+
return nil
|
|
1654
|
+
end
|
|
1655
|
+
|
|
1656
|
+
d = 1.0 / det
|
|
1657
|
+
|
|
1658
|
+
setElement( 0, 0, d * elements[4*0+0] )
|
|
1659
|
+
setElement( 0, 1, d * elements[4*0+1] )
|
|
1660
|
+
setElement( 0, 2, d * elements[4*0+2] )
|
|
1661
|
+
setElement( 0, 3, d * elements[4*0+3] )
|
|
1662
|
+
|
|
1663
|
+
setElement( 1, 0, d * elements[4*1+0] )
|
|
1664
|
+
setElement( 1, 1, d * elements[4*1+1] )
|
|
1665
|
+
setElement( 1, 2, d * elements[4*1+2] )
|
|
1666
|
+
setElement( 1, 3, d * elements[4*1+3] )
|
|
1667
|
+
|
|
1668
|
+
setElement( 2, 0, d * elements[4*2+0] )
|
|
1669
|
+
setElement( 2, 1, d * elements[4*2+1] )
|
|
1670
|
+
setElement( 2, 2, d * elements[4*2+2] )
|
|
1671
|
+
setElement( 2, 3, d * elements[4*2+3] )
|
|
1672
|
+
|
|
1673
|
+
setElement( 3, 0, d * elements[4*3+0] )
|
|
1674
|
+
setElement( 3, 1, d * elements[4*3+1] )
|
|
1675
|
+
setElement( 3, 2, d * elements[4*3+2] )
|
|
1676
|
+
setElement( 3, 3, d * elements[4*3+3] )
|
|
1677
|
+
|
|
1678
|
+
return self
|
|
1679
|
+
end
|
|
1680
|
+
|
|
1681
|
+
#
|
|
1682
|
+
# call-seq: translation(tx,ty,tz) -> self
|
|
1683
|
+
#
|
|
1684
|
+
# Makes itself as a translation matrix.
|
|
1685
|
+
#
|
|
1686
|
+
def translation( tx, ty, tz )
|
|
1687
|
+
setIdentity()
|
|
1688
|
+
self.e03 = tx
|
|
1689
|
+
self.e13 = ty
|
|
1690
|
+
self.e23 = tz
|
|
1691
|
+
|
|
1692
|
+
return self
|
|
1693
|
+
end
|
|
1694
|
+
|
|
1695
|
+
#
|
|
1696
|
+
# call-seq: rotationX(radian) -> self
|
|
1697
|
+
#
|
|
1698
|
+
# Makes a matrix that rotates around the x-axis.
|
|
1699
|
+
#
|
|
1700
|
+
def rotationX( radian )
|
|
1701
|
+
s = Math.sin( radian )
|
|
1702
|
+
c = Math.cos( radian )
|
|
1703
|
+
|
|
1704
|
+
setIdentity()
|
|
1705
|
+
self.e11 = c
|
|
1706
|
+
self.e12 = -s
|
|
1707
|
+
self.e21 = s
|
|
1708
|
+
self.e22 = c
|
|
1709
|
+
|
|
1710
|
+
return self
|
|
1711
|
+
end
|
|
1712
|
+
|
|
1713
|
+
#
|
|
1714
|
+
# call-seq: rotationY(radian) -> self
|
|
1715
|
+
#
|
|
1716
|
+
# Makes a matrix that rotates around the y-axis.
|
|
1717
|
+
#
|
|
1718
|
+
def rotationY( radian )
|
|
1719
|
+
s = Math.sin( radian )
|
|
1720
|
+
c = Math.cos( radian )
|
|
1721
|
+
|
|
1722
|
+
setIdentity()
|
|
1723
|
+
self.e00 = c
|
|
1724
|
+
self.e02 = s
|
|
1725
|
+
self.e20 = -s
|
|
1726
|
+
self.e22 = c
|
|
1727
|
+
|
|
1728
|
+
return self
|
|
1729
|
+
end
|
|
1730
|
+
|
|
1731
|
+
#
|
|
1732
|
+
# call-seq: rotationZ(radian) -> self
|
|
1733
|
+
#
|
|
1734
|
+
# Makes a matrix that rotates around the z-axis.
|
|
1735
|
+
#
|
|
1736
|
+
def rotationZ( radian )
|
|
1737
|
+
s = Math.sin( radian )
|
|
1738
|
+
c = Math.cos( radian )
|
|
1739
|
+
|
|
1740
|
+
setIdentity()
|
|
1741
|
+
self.e00 = c
|
|
1742
|
+
self.e01 = -s
|
|
1743
|
+
self.e10 = s
|
|
1744
|
+
self.e11 = c
|
|
1745
|
+
|
|
1746
|
+
return self
|
|
1747
|
+
end
|
|
1748
|
+
|
|
1749
|
+
#
|
|
1750
|
+
# call-seq: rotationAxis(axis,radian) -> self
|
|
1751
|
+
#
|
|
1752
|
+
# Makes a matrix that rotates around the +axis+.
|
|
1753
|
+
#
|
|
1754
|
+
def rotationAxis( axis, radian )
|
|
1755
|
+
if ( axis.class != RVec3 )
|
|
1756
|
+
raise TypeError, "RMtx4#rotationAxis : Unknown type #{axis.class} given as axis."
|
|
1757
|
+
return nil
|
|
1758
|
+
end
|
|
1759
|
+
s = Math.sin( radian )
|
|
1760
|
+
c = Math.cos( radian )
|
|
1761
|
+
omc = 1.0 - c
|
|
1762
|
+
x = axis.x.to_f
|
|
1763
|
+
y = axis.y.to_f
|
|
1764
|
+
z = axis.z.to_f
|
|
1765
|
+
|
|
1766
|
+
setIdentity()
|
|
1767
|
+
|
|
1768
|
+
self.e00 = x*x*omc + c
|
|
1769
|
+
self.e01 = x*y*omc - z*s
|
|
1770
|
+
self.e02 = z*x*omc + y*s
|
|
1771
|
+
self.e10 = x*y*omc + z*s
|
|
1772
|
+
self.e11 = y*y*omc + c
|
|
1773
|
+
self.e12 = y*z*omc - x*s
|
|
1774
|
+
self.e20 = z*x*omc - y*s
|
|
1775
|
+
self.e21 = y*z*omc + x*s
|
|
1776
|
+
self.e22 = z*z*omc + c
|
|
1777
|
+
|
|
1778
|
+
return self
|
|
1779
|
+
end
|
|
1780
|
+
|
|
1781
|
+
#
|
|
1782
|
+
# call-seq: rotationQuaternion(q) -> self
|
|
1783
|
+
#
|
|
1784
|
+
# Makes a rotation matrix from a normalized quaternion +q+.
|
|
1785
|
+
#
|
|
1786
|
+
def rotationQuaternion( q )
|
|
1787
|
+
if ( q.class != RQuat )
|
|
1788
|
+
raise TypeError, "RMtx4#rotationQuaternion : Unknown type #{q.class} given as RQuat."
|
|
1789
|
+
return nil
|
|
1790
|
+
end
|
|
1791
|
+
x = q.x
|
|
1792
|
+
y = q.y
|
|
1793
|
+
z = q.z
|
|
1794
|
+
w = q.w
|
|
1795
|
+
|
|
1796
|
+
x2 = 2.0 * x
|
|
1797
|
+
y2 = 2.0 * y
|
|
1798
|
+
z2 = 2.0 * z
|
|
1799
|
+
|
|
1800
|
+
xx2 = x * x2
|
|
1801
|
+
yy2 = y * y2
|
|
1802
|
+
zz2 = z * z2
|
|
1803
|
+
|
|
1804
|
+
yz2 = y * z2
|
|
1805
|
+
wx2 = w * x2
|
|
1806
|
+
xy2 = x * y2
|
|
1807
|
+
wz2 = w * z2
|
|
1808
|
+
xz2 = x * z2
|
|
1809
|
+
wy2 = w * y2
|
|
1810
|
+
|
|
1811
|
+
setIdentity()
|
|
1812
|
+
|
|
1813
|
+
self.e00 = 1.0 - yy2 - zz2
|
|
1814
|
+
self.e10 = xy2 + wz2
|
|
1815
|
+
self.e20 = xz2 - wy2
|
|
1816
|
+
self.e01 = xy2 - wz2
|
|
1817
|
+
self.e11 = 1.0 - xx2 - zz2
|
|
1818
|
+
self.e21 = yz2 + wx2
|
|
1819
|
+
self.e02 = xz2 + wy2
|
|
1820
|
+
self.e12 = yz2 - wx2
|
|
1821
|
+
self.e22 = 1.0 - xx2 - yy2
|
|
1822
|
+
|
|
1823
|
+
return self
|
|
1824
|
+
end
|
|
1825
|
+
|
|
1826
|
+
#
|
|
1827
|
+
# call-seq: scaling(sx,sy,sz) -> self
|
|
1828
|
+
#
|
|
1829
|
+
# Makes itself as a scaling matrix.
|
|
1830
|
+
#
|
|
1831
|
+
def scaling( sx, sy, sz )
|
|
1832
|
+
setIdentity()
|
|
1833
|
+
setElement( 0, 0, sx )
|
|
1834
|
+
setElement( 1, 1, sy )
|
|
1835
|
+
setElement( 2, 2, sz )
|
|
1836
|
+
|
|
1837
|
+
return self
|
|
1838
|
+
end
|
|
1839
|
+
|
|
1840
|
+
#
|
|
1841
|
+
# call-seq: lookAtLH(eye,at,up) -> self
|
|
1842
|
+
#
|
|
1843
|
+
# Builds a viewing matrix for a left-handed coordinate system from:
|
|
1844
|
+
# * eye position (+eye+: RVec3)
|
|
1845
|
+
# * a point looking at (+at+: RVec3)
|
|
1846
|
+
# * up vector (+up+: RVec3)
|
|
1847
|
+
#
|
|
1848
|
+
def lookAtLH( eye, at, up )
|
|
1849
|
+
setIdentity()
|
|
1850
|
+
|
|
1851
|
+
axis_z = (at - eye).normalize!
|
|
1852
|
+
axis_x = RVec3.cross( up, axis_z ).normalize!
|
|
1853
|
+
axis_y = RVec3.cross( axis_z, axis_x )
|
|
1854
|
+
|
|
1855
|
+
self.e00 = axis_x[0]
|
|
1856
|
+
self.e01 = axis_x[1]
|
|
1857
|
+
self.e02 = axis_x[2]
|
|
1858
|
+
self.e03 = -RVec3.dot( axis_x, eye )
|
|
1859
|
+
|
|
1860
|
+
self.e10 = axis_y[0]
|
|
1861
|
+
self.e11 = axis_y[1]
|
|
1862
|
+
self.e12 = axis_y[2]
|
|
1863
|
+
self.e13 = -RVec3.dot( axis_y, eye )
|
|
1864
|
+
|
|
1865
|
+
self.e20 = axis_z[0]
|
|
1866
|
+
self.e21 = axis_z[1]
|
|
1867
|
+
self.e22 = axis_z[2]
|
|
1868
|
+
self.e23 = -RVec3.dot( axis_z, eye )
|
|
1869
|
+
|
|
1870
|
+
return self
|
|
1871
|
+
end
|
|
1872
|
+
|
|
1873
|
+
#
|
|
1874
|
+
# call-seq: lookAtRH(eye,at,up) -> self
|
|
1875
|
+
#
|
|
1876
|
+
# Builds a viewing matrix for a right-handed coordinate system from:
|
|
1877
|
+
# * eye position (+eye+: RVec3)
|
|
1878
|
+
# * a point looking at (+at+: RVec3)
|
|
1879
|
+
# * up vector (+up+: RVec3)
|
|
1880
|
+
#
|
|
1881
|
+
def lookAtRH( eye, at, up )
|
|
1882
|
+
setIdentity()
|
|
1883
|
+
|
|
1884
|
+
axis_z = (eye - at).normalize!
|
|
1885
|
+
axis_x = RVec3.cross( up, axis_z ).normalize!
|
|
1886
|
+
axis_y = RVec3.cross( axis_z, axis_x )
|
|
1887
|
+
|
|
1888
|
+
self.e00 = axis_x[0]
|
|
1889
|
+
self.e01 = axis_x[1]
|
|
1890
|
+
self.e02 = axis_x[2]
|
|
1891
|
+
self.e03 = -RVec3.dot( axis_x, eye )
|
|
1892
|
+
|
|
1893
|
+
self.e10 = axis_y[0]
|
|
1894
|
+
self.e11 = axis_y[1]
|
|
1895
|
+
self.e12 = axis_y[2]
|
|
1896
|
+
self.e13 = -RVec3.dot( axis_y, eye )
|
|
1897
|
+
|
|
1898
|
+
self.e20 = axis_z[0]
|
|
1899
|
+
self.e21 = axis_z[1]
|
|
1900
|
+
self.e22 = axis_z[2]
|
|
1901
|
+
self.e23 = -RVec3.dot( axis_z, eye )
|
|
1902
|
+
|
|
1903
|
+
return self
|
|
1904
|
+
end
|
|
1905
|
+
|
|
1906
|
+
#
|
|
1907
|
+
# call-seq: perspectiveRH(width,height,znear,zfar,ndc_convention) -> self
|
|
1908
|
+
#
|
|
1909
|
+
# Builds a perspective projection matrix for a right-handed coordinate system from:
|
|
1910
|
+
# * View volume width (+width+)
|
|
1911
|
+
# * View volume height (+height+)
|
|
1912
|
+
# * Near clip plane distance (+znear+)
|
|
1913
|
+
# * Far clip plane distance (+zfar+)
|
|
1914
|
+
# * Set true for the environment with Z coordinate ranges from -1 to +1 (OpenGL), and false otherwise (Direct3D, Metal) (+ndc_homogeneous+)
|
|
1915
|
+
#
|
|
1916
|
+
def perspectiveRH( width, height, znear, zfar, ndc_homogeneous = true)
|
|
1917
|
+
perspectiveOffCenterRH(-width/2.0, width/2.0, -height/2.0, height/2.0, znear, zfar, ndc_homogeneous )
|
|
1918
|
+
return self
|
|
1919
|
+
end
|
|
1920
|
+
|
|
1921
|
+
#
|
|
1922
|
+
# call-seq: perspectiveFovRH(fovy,aspect,znear,zfar,ndc_homogeneous) -> self
|
|
1923
|
+
#
|
|
1924
|
+
# Builds a perspective projection matrix for a right-handed coordinate system from:
|
|
1925
|
+
# * Field of view in y direction (+fovy+ radian)
|
|
1926
|
+
# * Aspect ratio (+aspect+)
|
|
1927
|
+
# * Near clip plane distance (+znear+)
|
|
1928
|
+
# * Far clip plane distance (+zfar+)
|
|
1929
|
+
# * Set true for the environment with Z coordinate ranges from -1 to +1 (OpenGL), and false otherwise (Direct3D, Metal) (+ndc_homogeneous+)
|
|
1930
|
+
#
|
|
1931
|
+
def perspectiveFovRH( fovy_radian, aspect, znear, zfar, ndc_homogeneous = true)
|
|
1932
|
+
f = Math::tan( fovy_radian / 2.0 )
|
|
1933
|
+
f = 1.0 / f
|
|
1934
|
+
|
|
1935
|
+
c = ndc_homogeneous ? -(zfar+znear) / (zfar-znear) : -zfar / (zfar-znear)
|
|
1936
|
+
d = ndc_homogeneous ? -(2*znear*zfar) / (zfar-znear) : -(znear*zfar) / (zfar-znear)
|
|
1937
|
+
|
|
1938
|
+
setIdentity()
|
|
1939
|
+
setElement( 0, 0, f / aspect )
|
|
1940
|
+
setElement( 1, 1, f )
|
|
1941
|
+
setElement( 2, 2, c )
|
|
1942
|
+
setElement( 2, 3, d )
|
|
1943
|
+
setElement( 3, 2, -1.0 )
|
|
1944
|
+
setElement( 3, 3, 0.0 )
|
|
1945
|
+
|
|
1946
|
+
return self
|
|
1947
|
+
end
|
|
1948
|
+
|
|
1949
|
+
#
|
|
1950
|
+
# call-seq: perspectiveOffCenterRH(left,right,bottom,top,znear,zfar) -> self
|
|
1951
|
+
#
|
|
1952
|
+
# Builds a perspective projection matrix for a right-handed coordinate system from:
|
|
1953
|
+
# * Minimum value of the view volume width (+left+)
|
|
1954
|
+
# * Maximum value of the view volume width (+right+)
|
|
1955
|
+
# * Minimum value of the view volume height (+bottom+)
|
|
1956
|
+
# * Maximum value of the view volume height (+top+)
|
|
1957
|
+
# * Near clip plane distance (+znear+)
|
|
1958
|
+
# * Far clip plane distance (+zfar+)
|
|
1959
|
+
# * Set true for the environment with Z coordinate ranges from -1 to +1 (OpenGL), and false otherwise (Direct3D, Metal) (+ndc_homogeneous+)
|
|
1960
|
+
#
|
|
1961
|
+
def perspectiveOffCenterRH( left, right, bottom, top, znear, zfar, ndc_homogeneous = true)
|
|
1962
|
+
a = (right+left) / (right-left)
|
|
1963
|
+
b = (top+bottom) / (top-bottom)
|
|
1964
|
+
c = ndc_homogeneous ? -(zfar+znear) / (zfar-znear) : -zfar / (zfar-znear)
|
|
1965
|
+
d = ndc_homogeneous ? -(2*znear*zfar) / (zfar-znear) : -(znear*zfar) / (zfar-znear)
|
|
1966
|
+
|
|
1967
|
+
setIdentity()
|
|
1968
|
+
|
|
1969
|
+
setElement( 0, 0, 2*znear/(right-left) )
|
|
1970
|
+
setElement( 0, 2, a )
|
|
1971
|
+
setElement( 1, 1, 2*znear/(top-bottom) )
|
|
1972
|
+
setElement( 1, 2, b )
|
|
1973
|
+
setElement( 2, 2, c )
|
|
1974
|
+
setElement( 2, 3, d )
|
|
1975
|
+
setElement( 3, 2, -1.0 )
|
|
1976
|
+
setElement( 3, 3, 0.0 )
|
|
1977
|
+
|
|
1978
|
+
return self
|
|
1979
|
+
end
|
|
1980
|
+
|
|
1981
|
+
#
|
|
1982
|
+
# call-seq: orthoRH(width,height,znear,zfar) -> self
|
|
1983
|
+
#
|
|
1984
|
+
# Builds a orthogonal projection matrix for a right-handed coordinate system from:
|
|
1985
|
+
# * View volume width (+width+)
|
|
1986
|
+
# * View volume height (+height+)
|
|
1987
|
+
# * Near clip plane distance (+znear+)
|
|
1988
|
+
# * Far clip plane distance (+zfar+)
|
|
1989
|
+
# * Set true for the environment with Z coordinate ranges from -1 to +1 (OpenGL), and false otherwise (Direct3D, Metal) (+ndc_homogeneous+)
|
|
1990
|
+
#
|
|
1991
|
+
def orthoRH( width, height, znear, zfar, ndc_homogeneous = true)
|
|
1992
|
+
orthoOffCenterRH( -width/2.0, width/2.0, -height/2.0, height/2.0, znear, zfar, ndc_homogeneous )
|
|
1993
|
+
return self
|
|
1994
|
+
end
|
|
1995
|
+
|
|
1996
|
+
#
|
|
1997
|
+
# call-seq: orthoOffCenterRH(left,right,bottom,top,znear,zfar) -> self
|
|
1998
|
+
#
|
|
1999
|
+
# Builds a orthogonal projection matrix for a right-handed coordinate system from:
|
|
2000
|
+
# * Minimum value of the view volume width (+left+)
|
|
2001
|
+
# * Maximum value of the view volume width (+right+)
|
|
2002
|
+
# * Minimum value of the view volume height (+bottom+)
|
|
2003
|
+
# * Maximum value of the view volume height (+top+)
|
|
2004
|
+
# * Near clip plane distance (+znear+)
|
|
2005
|
+
# * Far clip plane distance (+zfar+)
|
|
2006
|
+
# * Set true for the environment with Z coordinate ranges from -1 to +1 (OpenGL), and false otherwise (Direct3D, Metal) (+ndc_homogeneous+)
|
|
2007
|
+
#
|
|
2008
|
+
def orthoOffCenterRH( left, right, bottom, top, znear, zfar, ndc_homogeneous = true)
|
|
2009
|
+
tx = -(right+left) / (right-left)
|
|
2010
|
+
ty = -(top+bottom) / (top-bottom)
|
|
2011
|
+
tz = ndc_homogeneous ? -(zfar+znear) / (zfar-znear) : -znear / (zfar-znear)
|
|
2012
|
+
|
|
2013
|
+
setIdentity()
|
|
2014
|
+
|
|
2015
|
+
setElement( 0, 0, 2.0/(right-left) )
|
|
2016
|
+
setElement( 0, 3, tx )
|
|
2017
|
+
setElement( 1, 1, 2.0/(top-bottom) )
|
|
2018
|
+
setElement( 1, 3, ty )
|
|
2019
|
+
setElement( 2, 2, -(ndc_homogeneous ? 2.0 : 1.0)/(zfar-znear) )
|
|
2020
|
+
setElement( 2, 3, tz )
|
|
2021
|
+
|
|
2022
|
+
return self
|
|
2023
|
+
end
|
|
2024
|
+
|
|
2025
|
+
#
|
|
2026
|
+
# call-seq: +
|
|
2027
|
+
#
|
|
2028
|
+
# +mtx : Unary plus operator.
|
|
2029
|
+
#
|
|
2030
|
+
def +@
|
|
2031
|
+
return self
|
|
2032
|
+
end
|
|
2033
|
+
|
|
2034
|
+
#
|
|
2035
|
+
# call-seq: -
|
|
2036
|
+
#
|
|
2037
|
+
# -mtx : Unary minus operator.
|
|
2038
|
+
#
|
|
2039
|
+
def -@
|
|
2040
|
+
return RMtx4.new( self * -1.0 )
|
|
2041
|
+
end
|
|
2042
|
+
|
|
2043
|
+
#
|
|
2044
|
+
# call-seq: +
|
|
2045
|
+
#
|
|
2046
|
+
# mtx1 + mtx2 : Binary plus operator.
|
|
2047
|
+
#
|
|
2048
|
+
def +( arg )
|
|
2049
|
+
if ( arg.class != RMtx4 )
|
|
2050
|
+
raise TypeError, "RMtx4#+(arg) : Unknown type #{arg.class} given as RMtx4."
|
|
2051
|
+
return nil
|
|
2052
|
+
end
|
|
2053
|
+
|
|
2054
|
+
result = RMtx4.new
|
|
2055
|
+
for row in 0...4 do
|
|
2056
|
+
for col in 0...4 do
|
|
2057
|
+
result.setElement( row, col, getElement(row,col) + arg.getElement(row,col) )
|
|
2058
|
+
end
|
|
2059
|
+
end
|
|
2060
|
+
|
|
2061
|
+
return result
|
|
2062
|
+
end
|
|
2063
|
+
|
|
2064
|
+
#
|
|
2065
|
+
# call-seq: -
|
|
2066
|
+
#
|
|
2067
|
+
# mtx1 - mtx2 : Binary minus operator.
|
|
2068
|
+
#
|
|
2069
|
+
def -( arg )
|
|
2070
|
+
if ( arg.class != RMtx4 )
|
|
2071
|
+
raise TypeError, "RMtx4#-(arg) : Unknown type #{arg.class} given as RMtx4."
|
|
2072
|
+
return nil
|
|
2073
|
+
end
|
|
2074
|
+
|
|
2075
|
+
result = RMtx4.new
|
|
2076
|
+
for row in 0...4 do
|
|
2077
|
+
for col in 0...4 do
|
|
2078
|
+
result.setElement( row, col, getElement(row,col) - arg.getElement(row,col) )
|
|
2079
|
+
end
|
|
2080
|
+
end
|
|
2081
|
+
|
|
2082
|
+
return result
|
|
2083
|
+
end
|
|
2084
|
+
|
|
2085
|
+
#
|
|
2086
|
+
# call-seq: *
|
|
2087
|
+
#
|
|
2088
|
+
# mtx1 * mtx2 : Binary multiply operator.
|
|
2089
|
+
#
|
|
2090
|
+
def *( arg )
|
|
2091
|
+
case arg
|
|
2092
|
+
when Float, Integer
|
|
2093
|
+
return RMtx4.new( arg*self.e00, arg*self.e01, arg*self.e02, arg*self.e03,
|
|
2094
|
+
arg*self.e10, arg*self.e11, arg*self.e12, arg*self.e13,
|
|
2095
|
+
arg*self.e20, arg*self.e21, arg*self.e22, arg*self.e23,
|
|
2096
|
+
arg*self.e30, arg*self.e31, arg*self.e32, arg*self.e33 )
|
|
2097
|
+
|
|
2098
|
+
when RMtx4
|
|
2099
|
+
result = RMtx4.new
|
|
2100
|
+
for row in 0...4 do
|
|
2101
|
+
for col in 0...4 do
|
|
2102
|
+
sum = 0.0
|
|
2103
|
+
for i in 0...4 do
|
|
2104
|
+
sum += getElement( row, i ) * arg.getElement( i, col )
|
|
2105
|
+
end
|
|
2106
|
+
result.setElement( row, col, sum )
|
|
2107
|
+
end
|
|
2108
|
+
end
|
|
2109
|
+
return result
|
|
2110
|
+
|
|
2111
|
+
else
|
|
2112
|
+
raise TypeError, "RMtx4#*(arg) : Unknown type #{arg.class} given."
|
|
2113
|
+
return nil
|
|
2114
|
+
end
|
|
2115
|
+
end
|
|
2116
|
+
|
|
2117
|
+
#
|
|
2118
|
+
# call-seq: ==
|
|
2119
|
+
#
|
|
2120
|
+
# mtx1 == mtx2 : evaluates equality.
|
|
2121
|
+
#
|
|
2122
|
+
def ==( other )
|
|
2123
|
+
if other.class == RMtx4
|
|
2124
|
+
for row in 0...4 do
|
|
2125
|
+
for col in 0...4 do
|
|
2126
|
+
if ( (getElement(row,col) - other.getElement(row,col)).abs > TOLERANCE )
|
|
2127
|
+
return false
|
|
2128
|
+
end
|
|
2129
|
+
end
|
|
2130
|
+
end
|
|
2131
|
+
return true
|
|
2132
|
+
else
|
|
2133
|
+
return false
|
|
2134
|
+
end
|
|
2135
|
+
end
|
|
2136
|
+
|
|
2137
|
+
#
|
|
2138
|
+
# call-seq: mtx1.add!( mtx2 )
|
|
2139
|
+
#
|
|
2140
|
+
# mtx1 += mtx2 : appends the elements of +mtx2+ into corresponding +mtx1+ elements.
|
|
2141
|
+
#
|
|
2142
|
+
def add!( other )
|
|
2143
|
+
if ( other.class != RMtx4 )
|
|
2144
|
+
raise TypeError, "RMtx4#add! : Unknown type #{other.class} given as RMtx4."
|
|
2145
|
+
return nil
|
|
2146
|
+
end
|
|
2147
|
+
|
|
2148
|
+
result = RMtx4.new
|
|
2149
|
+
for row in 0...4 do
|
|
2150
|
+
for col in 0...4 do
|
|
2151
|
+
self.setElement( row, col, getElement(row,col) + other.getElement(row,col) )
|
|
2152
|
+
end
|
|
2153
|
+
end
|
|
2154
|
+
|
|
2155
|
+
return self
|
|
2156
|
+
end
|
|
2157
|
+
|
|
2158
|
+
#
|
|
2159
|
+
# call-seq: mtx1.sub!( mtx2 )
|
|
2160
|
+
#
|
|
2161
|
+
# mtx1 -= mtx2 : subtracts the elements of +mtx2+ from corresponding +mtx1+ elements.
|
|
2162
|
+
#
|
|
2163
|
+
def sub!( other )
|
|
2164
|
+
if ( other.class != RMtx4 )
|
|
2165
|
+
raise TypeError, "RMtx4#sub! : Unknown type #{other.class} given as RMtx4."
|
|
2166
|
+
return nil
|
|
2167
|
+
end
|
|
2168
|
+
|
|
2169
|
+
result = RMtx4.new
|
|
2170
|
+
for row in 0...4 do
|
|
2171
|
+
for col in 0...4 do
|
|
2172
|
+
self.setElement( row, col, getElement(row,col) - other.getElement(row,col) )
|
|
2173
|
+
end
|
|
2174
|
+
end
|
|
2175
|
+
|
|
2176
|
+
return self
|
|
2177
|
+
end
|
|
2178
|
+
|
|
2179
|
+
#
|
|
2180
|
+
# call-seq: mtx1.mul!( mtx2 )
|
|
2181
|
+
#
|
|
2182
|
+
# mtx1 *= mtx2
|
|
2183
|
+
#
|
|
2184
|
+
def mul!( other )
|
|
2185
|
+
case other
|
|
2186
|
+
when Float, Integer
|
|
2187
|
+
self.e00 = other*self.e00
|
|
2188
|
+
self.e01 = other*self.e01
|
|
2189
|
+
self.e02 = other*self.e02
|
|
2190
|
+
self.e03 = other*self.e03
|
|
2191
|
+
|
|
2192
|
+
self.e10 = other*self.e10
|
|
2193
|
+
self.e11 = other*self.e11
|
|
2194
|
+
self.e12 = other*self.e12
|
|
2195
|
+
self.e13 = other*self.e13
|
|
2196
|
+
|
|
2197
|
+
self.e20 = other*self.e20
|
|
2198
|
+
self.e21 = other*self.e21
|
|
2199
|
+
self.e22 = other*self.e22
|
|
2200
|
+
self.e23 = other*self.e23
|
|
2201
|
+
|
|
2202
|
+
self.e30 = other*self.e30
|
|
2203
|
+
self.e31 = other*self.e31
|
|
2204
|
+
self.e32 = other*self.e32
|
|
2205
|
+
self.e33 = other*self.e33
|
|
2206
|
+
|
|
2207
|
+
return self
|
|
2208
|
+
|
|
2209
|
+
when RMtx4
|
|
2210
|
+
result = RMtx4.new
|
|
2211
|
+
for row in 0...4 do
|
|
2212
|
+
for col in 0...4 do
|
|
2213
|
+
sum = 0.0
|
|
2214
|
+
for i in 0...4 do
|
|
2215
|
+
sum += getElement( row, i ) * other.getElement( i, col )
|
|
2216
|
+
end
|
|
2217
|
+
result.setElement( row, col, sum )
|
|
2218
|
+
end
|
|
2219
|
+
end
|
|
2220
|
+
|
|
2221
|
+
self.e00 = result.e00
|
|
2222
|
+
self.e01 = result.e01
|
|
2223
|
+
self.e02 = result.e02
|
|
2224
|
+
self.e03 = result.e03
|
|
2225
|
+
|
|
2226
|
+
self.e10 = result.e10
|
|
2227
|
+
self.e11 = result.e11
|
|
2228
|
+
self.e12 = result.e12
|
|
2229
|
+
self.e13 = result.e13
|
|
2230
|
+
|
|
2231
|
+
self.e20 = result.e20
|
|
2232
|
+
self.e21 = result.e21
|
|
2233
|
+
self.e22 = result.e22
|
|
2234
|
+
self.e23 = result.e23
|
|
2235
|
+
|
|
2236
|
+
self.e30 = result.e30
|
|
2237
|
+
self.e31 = result.e31
|
|
2238
|
+
self.e32 = result.e32
|
|
2239
|
+
self.e33 = result.e33
|
|
2240
|
+
|
|
2241
|
+
return self
|
|
2242
|
+
end
|
|
2243
|
+
end
|
|
2244
|
+
end
|
|
2245
|
+
|
|
2246
|
+
#
|
|
2247
|
+
# Document-class: RMath3D::RQuat
|
|
2248
|
+
# provies quaternion arithmetic.
|
|
2249
|
+
#
|
|
2250
|
+
class RQuat
|
|
2251
|
+
|
|
2252
|
+
#
|
|
2253
|
+
# call-seq:
|
|
2254
|
+
# RQuat.new -> (0,0,0,0)
|
|
2255
|
+
# RQuat.new(e) -> (e,e,e,e)
|
|
2256
|
+
# RQuat.new( other ) : Copy Constructor
|
|
2257
|
+
# RQuat.new( e0, e1, e2, e3 ) -> (e0,e1,e2,e3)
|
|
2258
|
+
#
|
|
2259
|
+
# Creates a new quaternion.
|
|
2260
|
+
#
|
|
2261
|
+
def initialize( *a )
|
|
2262
|
+
@e = []
|
|
2263
|
+
case a.length
|
|
2264
|
+
when 0
|
|
2265
|
+
@e = [0.0, 0.0, 0.0, 0.0]
|
|
2266
|
+
when 1
|
|
2267
|
+
case a[0]
|
|
2268
|
+
when Float, Integer
|
|
2269
|
+
@e = [ a[0], a[0], a[0], a[0] ]
|
|
2270
|
+
when RQuat
|
|
2271
|
+
@e = [ a[0].x, a[0].y, a[0].z, a[0].w ]
|
|
2272
|
+
else
|
|
2273
|
+
raise TypeError, "RQuat#initialize : Unknown type #{a[0].class}."
|
|
2274
|
+
return nil
|
|
2275
|
+
end
|
|
2276
|
+
when 4
|
|
2277
|
+
a.each_with_index do |elem, index|
|
|
2278
|
+
case elem
|
|
2279
|
+
when Float, Integer
|
|
2280
|
+
@e[index] = elem
|
|
2281
|
+
else
|
|
2282
|
+
raise TypeError, "RQuat#initialize : Unknown type #{elem.class}."
|
|
2283
|
+
return nil
|
|
2284
|
+
end
|
|
2285
|
+
end
|
|
2286
|
+
else
|
|
2287
|
+
raise RuntimeError, "RQuat#initialize : wrong # of arguments (#{a.length})"
|
|
2288
|
+
return nil
|
|
2289
|
+
end
|
|
2290
|
+
return self
|
|
2291
|
+
end
|
|
2292
|
+
|
|
2293
|
+
#
|
|
2294
|
+
# call-seq: to_s
|
|
2295
|
+
#
|
|
2296
|
+
# Returns human-readable string.
|
|
2297
|
+
#
|
|
2298
|
+
def to_s
|
|
2299
|
+
return "( #{@e[0]}, #{@e[1]}, #{@e[2]}, #{@e[3]} )"
|
|
2300
|
+
end
|
|
2301
|
+
|
|
2302
|
+
#
|
|
2303
|
+
# call-seq: to_a
|
|
2304
|
+
#
|
|
2305
|
+
# Returns its elements as a new Array.
|
|
2306
|
+
#
|
|
2307
|
+
def to_a
|
|
2308
|
+
return @e
|
|
2309
|
+
end
|
|
2310
|
+
|
|
2311
|
+
#
|
|
2312
|
+
# call-seq: coerse(other)
|
|
2313
|
+
#
|
|
2314
|
+
# Resolves type mismatch.
|
|
2315
|
+
#
|
|
2316
|
+
def coerce( arg )
|
|
2317
|
+
case arg
|
|
2318
|
+
when Float, Integer
|
|
2319
|
+
return [ self, arg ]
|
|
2320
|
+
else
|
|
2321
|
+
raise TypeError, "RQuat#coerce : #{arg.self} can't be coerced into #{self.class}."
|
|
2322
|
+
return nil
|
|
2323
|
+
end
|
|
2324
|
+
end
|
|
2325
|
+
|
|
2326
|
+
#
|
|
2327
|
+
# call-seq: setElements( e0, e1, e2, e3 )
|
|
2328
|
+
#
|
|
2329
|
+
# Stores given 4 new values.
|
|
2330
|
+
#
|
|
2331
|
+
def setElements( x, y, z, w )
|
|
2332
|
+
self.x = x
|
|
2333
|
+
self.y = y
|
|
2334
|
+
self.z = z
|
|
2335
|
+
self.w = w
|
|
2336
|
+
end
|
|
2337
|
+
|
|
2338
|
+
#
|
|
2339
|
+
# call-seq: quat[i]= value
|
|
2340
|
+
#
|
|
2341
|
+
# Stores +value+ at +i+.
|
|
2342
|
+
#
|
|
2343
|
+
def []=(i,value)
|
|
2344
|
+
@e[i] = value
|
|
2345
|
+
end
|
|
2346
|
+
|
|
2347
|
+
#
|
|
2348
|
+
# call-seq: x= value
|
|
2349
|
+
#
|
|
2350
|
+
# Stores +value+ as +x+.
|
|
2351
|
+
#
|
|
2352
|
+
def x=(value) @e[0] = value end
|
|
2353
|
+
|
|
2354
|
+
#
|
|
2355
|
+
# call-seq: y= value
|
|
2356
|
+
#
|
|
2357
|
+
# Stores +value+ as +y+.
|
|
2358
|
+
#
|
|
2359
|
+
def y=(value) @e[1] = value end
|
|
2360
|
+
|
|
2361
|
+
#
|
|
2362
|
+
# call-seq: z= value
|
|
2363
|
+
#
|
|
2364
|
+
# Stores +value+ as +z+.
|
|
2365
|
+
#
|
|
2366
|
+
def z=(value) @e[2] = value end
|
|
2367
|
+
|
|
2368
|
+
#
|
|
2369
|
+
# call-seq: w= value
|
|
2370
|
+
#
|
|
2371
|
+
# Stores +value+ as +w+.
|
|
2372
|
+
#
|
|
2373
|
+
def w=(value) @e[3] = value end
|
|
2374
|
+
|
|
2375
|
+
#
|
|
2376
|
+
# call-seq: xyz= vXYZ
|
|
2377
|
+
#
|
|
2378
|
+
# Copies the values of +vXYZ+(RVec3) into +x+, +y+ and +z+.
|
|
2379
|
+
#
|
|
2380
|
+
def xyz=( arg )
|
|
2381
|
+
if arg.class != RVec3
|
|
2382
|
+
raise TypeError, "RQuat#xyz= : Unknown type #{arg.class}."
|
|
2383
|
+
return nil
|
|
2384
|
+
end
|
|
2385
|
+
@e[0] = arg.x
|
|
2386
|
+
@e[1] = arg.y
|
|
2387
|
+
@e[2] = arg.z
|
|
2388
|
+
end
|
|
2389
|
+
|
|
2390
|
+
#
|
|
2391
|
+
# call-seq: quat[i] -> value
|
|
2392
|
+
#
|
|
2393
|
+
# Returns the element at +i+.
|
|
2394
|
+
#
|
|
2395
|
+
def [](i)
|
|
2396
|
+
@e[i]
|
|
2397
|
+
end
|
|
2398
|
+
|
|
2399
|
+
|
|
2400
|
+
#
|
|
2401
|
+
# call-seq: x -> value
|
|
2402
|
+
#
|
|
2403
|
+
# Returns the value of +x+.
|
|
2404
|
+
#
|
|
2405
|
+
def x() return @e[0] end
|
|
2406
|
+
|
|
2407
|
+
#
|
|
2408
|
+
# call-seq: y -> value
|
|
2409
|
+
#
|
|
2410
|
+
# Returns the value of +y+.
|
|
2411
|
+
#
|
|
2412
|
+
def y() return @e[1] end
|
|
2413
|
+
|
|
2414
|
+
#
|
|
2415
|
+
# call-seq: z -> value
|
|
2416
|
+
#
|
|
2417
|
+
# Returns the value of +z+.
|
|
2418
|
+
#
|
|
2419
|
+
def z() return @e[2] end
|
|
2420
|
+
|
|
2421
|
+
#
|
|
2422
|
+
# call-seq: w -> value
|
|
2423
|
+
#
|
|
2424
|
+
# Returns the value of +w+.
|
|
2425
|
+
#
|
|
2426
|
+
def w() return @e[3] end
|
|
2427
|
+
|
|
2428
|
+
#
|
|
2429
|
+
# call-seq: xyz -> RVec3
|
|
2430
|
+
#
|
|
2431
|
+
# Returns the values of +x+, +y+ and +z+ with new RVec3(+x+,+y+,+z+).
|
|
2432
|
+
#
|
|
2433
|
+
def xyz()
|
|
2434
|
+
return RVec3.new( @e[0], @e[1], @e[2] )
|
|
2435
|
+
end
|
|
2436
|
+
|
|
2437
|
+
#
|
|
2438
|
+
# call-seq: getLength
|
|
2439
|
+
#
|
|
2440
|
+
# Returns the Euclidean length.
|
|
2441
|
+
#
|
|
2442
|
+
def getLength
|
|
2443
|
+
return Math.sqrt( @e[0]*@e[0] + @e[1]*@e[1] + @e[2]*@e[2] + @e[3]*@e[3] )
|
|
2444
|
+
end
|
|
2445
|
+
|
|
2446
|
+
#
|
|
2447
|
+
# call-seq: getLengthSq
|
|
2448
|
+
#
|
|
2449
|
+
# Returns the squared Euclidean length.
|
|
2450
|
+
#
|
|
2451
|
+
def getLengthSq
|
|
2452
|
+
return (@e[0]*@e[0] + @e[1]*@e[1] + @e[2]*@e[2] + @e[3]*@e[3]).to_f
|
|
2453
|
+
end
|
|
2454
|
+
|
|
2455
|
+
#
|
|
2456
|
+
# call-seq: RQuat.dot(q_a,q_b) -> value
|
|
2457
|
+
#
|
|
2458
|
+
# Calculates the dot product of +q_a+ and +q_b+.
|
|
2459
|
+
#
|
|
2460
|
+
def RQuat.dot( q1, q2 )
|
|
2461
|
+
if q1.class != RQuat || q2.class != RQuat
|
|
2462
|
+
raise TypeError, "RQuat#dot : Unknown type q1:#{q2.class}, q2:#{q2.class}."
|
|
2463
|
+
return nil
|
|
2464
|
+
end
|
|
2465
|
+
return q1.x*q2.x + q1.y*q2.y + q1.z*q2.z + q1.w*q2.w
|
|
2466
|
+
end
|
|
2467
|
+
|
|
2468
|
+
#
|
|
2469
|
+
# call-seq: RQuat.slerp( q_a, q_b, t ) -> interpolated quaternion
|
|
2470
|
+
#
|
|
2471
|
+
# Calculates the spherical linear interpolation between +q_a+ and
|
|
2472
|
+
# +q_b+ at time +t+ (0.0~1.0).
|
|
2473
|
+
#
|
|
2474
|
+
def RQuat.slerp( q1, q2, t )
|
|
2475
|
+
if q1.class != RQuat || q2.class != RQuat
|
|
2476
|
+
raise TypeError, "RQuat#slerp : Unknown type q1:#{q2.class}, q2:#{q2.class}."
|
|
2477
|
+
return nil
|
|
2478
|
+
end
|
|
2479
|
+
s1 = 0.0
|
|
2480
|
+
s2 = 0.0
|
|
2481
|
+
it = 1.0 - t
|
|
2482
|
+
cosine = RQuat.dot( q1, q2 )
|
|
2483
|
+
|
|
2484
|
+
qn1 = q1
|
|
2485
|
+
qn2 = q2
|
|
2486
|
+
|
|
2487
|
+
if ( cosine < 0.0 )
|
|
2488
|
+
cosine *= -1.0
|
|
2489
|
+
qn1 *= -1.0
|
|
2490
|
+
end
|
|
2491
|
+
|
|
2492
|
+
if ( (1.0 - cosine) > TOLERANCE )
|
|
2493
|
+
theta = Math.acos( cosine )
|
|
2494
|
+
sin_theta = Math.sin( theta )
|
|
2495
|
+
|
|
2496
|
+
s1 = Math.sin( it * theta ) / sin_theta
|
|
2497
|
+
s2 = Math.sin( t * theta ) / sin_theta
|
|
2498
|
+
else
|
|
2499
|
+
s1 = it
|
|
2500
|
+
s2 = t
|
|
2501
|
+
end
|
|
2502
|
+
|
|
2503
|
+
qn1 *= s1
|
|
2504
|
+
qn2 *= s2
|
|
2505
|
+
qResult = qn1 + qn2
|
|
2506
|
+
|
|
2507
|
+
return qResult
|
|
2508
|
+
end
|
|
2509
|
+
|
|
2510
|
+
#
|
|
2511
|
+
# call-seq: setIdentity
|
|
2512
|
+
#
|
|
2513
|
+
# Sets as identity quaternion.
|
|
2514
|
+
#
|
|
2515
|
+
def setIdentity
|
|
2516
|
+
self.x = 0.0
|
|
2517
|
+
self.y = 0.0
|
|
2518
|
+
self.z = 0.0
|
|
2519
|
+
self.w = 1.0
|
|
2520
|
+
return self
|
|
2521
|
+
end
|
|
2522
|
+
|
|
2523
|
+
#
|
|
2524
|
+
# call-seq: getConjugated
|
|
2525
|
+
#
|
|
2526
|
+
# Returns its conjugate quaternion.
|
|
2527
|
+
#
|
|
2528
|
+
def getConjugated
|
|
2529
|
+
return RQuat.new( -@e[0], -@e[1], -@e[2], @e[3] )
|
|
2530
|
+
end
|
|
2531
|
+
|
|
2532
|
+
#
|
|
2533
|
+
# call-seq: conjugate!
|
|
2534
|
+
#
|
|
2535
|
+
# Conjugates itself.
|
|
2536
|
+
#
|
|
2537
|
+
def conjugate!
|
|
2538
|
+
@e[0] *= -1.0
|
|
2539
|
+
@e[1] *= -1.0
|
|
2540
|
+
@e[2] *= -1.0
|
|
2541
|
+
return self
|
|
2542
|
+
end
|
|
2543
|
+
|
|
2544
|
+
#
|
|
2545
|
+
# call-seq: getInverse -> inverse quaternion
|
|
2546
|
+
#
|
|
2547
|
+
# Returns the inverse.
|
|
2548
|
+
#
|
|
2549
|
+
def getInverse
|
|
2550
|
+
length_sq = getLengthSq()
|
|
2551
|
+
return RQuat.new( -@e[0]/length_sq, -@e[1]/length_sq, -@e[2]/length_sq, @e[3]/length_sq )
|
|
2552
|
+
end
|
|
2553
|
+
|
|
2554
|
+
#
|
|
2555
|
+
# call-seq: invert! -> self
|
|
2556
|
+
#
|
|
2557
|
+
# Inverts itself.
|
|
2558
|
+
#
|
|
2559
|
+
def invert!
|
|
2560
|
+
length_sq = getLengthSq()
|
|
2561
|
+
@e[0] /= -length_sq
|
|
2562
|
+
@e[1] /= -length_sq
|
|
2563
|
+
@e[2] /= -length_sq
|
|
2564
|
+
@e[3] /= length_sq
|
|
2565
|
+
return self
|
|
2566
|
+
end
|
|
2567
|
+
|
|
2568
|
+
#
|
|
2569
|
+
# call-seq: getNormalized -> RQuat
|
|
2570
|
+
#
|
|
2571
|
+
# Returns normalized quaternion.
|
|
2572
|
+
#
|
|
2573
|
+
def getNormalized
|
|
2574
|
+
length = getLength()
|
|
2575
|
+
return RQuat.new( @e[0]/length, @e[1]/length, @e[2]/length, @e[3]/length )
|
|
2576
|
+
end
|
|
2577
|
+
|
|
2578
|
+
#
|
|
2579
|
+
# call-seq: normalize! -> self
|
|
2580
|
+
#
|
|
2581
|
+
# Normalizes itself.
|
|
2582
|
+
#
|
|
2583
|
+
def normalize!
|
|
2584
|
+
length = getLength()
|
|
2585
|
+
@e[0] /= length
|
|
2586
|
+
@e[1] /= length
|
|
2587
|
+
@e[2] /= length
|
|
2588
|
+
@e[3] /= length
|
|
2589
|
+
return self
|
|
2590
|
+
end
|
|
2591
|
+
|
|
2592
|
+
#
|
|
2593
|
+
# call-seq: +
|
|
2594
|
+
#
|
|
2595
|
+
# +quat : Unary plus operator.
|
|
2596
|
+
#
|
|
2597
|
+
def +@
|
|
2598
|
+
return self
|
|
2599
|
+
end
|
|
2600
|
+
|
|
2601
|
+
#
|
|
2602
|
+
# call-seq: -
|
|
2603
|
+
#
|
|
2604
|
+
# -quat : Unary minus operator.
|
|
2605
|
+
#
|
|
2606
|
+
def -@
|
|
2607
|
+
return RQuat.new( -@e[0], -@e[1], -@e[2], -@e[3] )
|
|
2608
|
+
end
|
|
2609
|
+
|
|
2610
|
+
#
|
|
2611
|
+
# call-seq: +
|
|
2612
|
+
#
|
|
2613
|
+
# quat1 + quat2 : Binary plus operator.
|
|
2614
|
+
#
|
|
2615
|
+
def +( arg )
|
|
2616
|
+
if arg.class != RQuat
|
|
2617
|
+
raise TypeError, "RQuat#+ : Unknown type #{arg.class}."
|
|
2618
|
+
return nil
|
|
2619
|
+
end
|
|
2620
|
+
RQuat.new( x+arg.x, y+arg.y, z+arg.z, w+arg.w )
|
|
2621
|
+
end
|
|
2622
|
+
|
|
2623
|
+
#
|
|
2624
|
+
# call-seq: -
|
|
2625
|
+
#
|
|
2626
|
+
# quat1 - quat2 : Binary minus operator.
|
|
2627
|
+
#
|
|
2628
|
+
def -( arg )
|
|
2629
|
+
if arg.class != RQuat
|
|
2630
|
+
raise TypeError, "RQuat#- : Unknown type #{arg.class}."
|
|
2631
|
+
return nil
|
|
2632
|
+
end
|
|
2633
|
+
RQuat.new( x-arg.x, y-arg.y, z-arg.z, w-arg.w )
|
|
2634
|
+
end
|
|
2635
|
+
|
|
2636
|
+
#
|
|
2637
|
+
# call-seq: *
|
|
2638
|
+
#
|
|
2639
|
+
# quat1 * quat2 : Binary multiply operator.
|
|
2640
|
+
#
|
|
2641
|
+
def *( arg )
|
|
2642
|
+
case arg
|
|
2643
|
+
when RQuat
|
|
2644
|
+
q1x = self.x
|
|
2645
|
+
q1y = self.y
|
|
2646
|
+
q1z = self.z
|
|
2647
|
+
q1w = self.w
|
|
2648
|
+
q2x = arg.x
|
|
2649
|
+
q2y = arg.y
|
|
2650
|
+
q2z = arg.z
|
|
2651
|
+
q2w = arg.w
|
|
2652
|
+
x = q1w*q2x + q1x*q2w + q1y*q2z - q1z*q2y
|
|
2653
|
+
y = q1w*q2y - q1x*q2z + q1y*q2w + q1z*q2x
|
|
2654
|
+
z = q1w*q2z + q1x*q2y - q1y*q2x + q1z*q2w
|
|
2655
|
+
w = q1w*q2w - q1x*q2x - q1y*q2y - q1z*q2z
|
|
2656
|
+
return RQuat.new( x, y, z, w )
|
|
2657
|
+
when Float, Integer
|
|
2658
|
+
return RQuat.new( @e[0]*arg, @e[1]*arg, @e[2]*arg, @e[3]*arg )
|
|
2659
|
+
else
|
|
2660
|
+
raise TypeError, "RQuat#* : Unknown type #{arg}."
|
|
2661
|
+
return nil
|
|
2662
|
+
end
|
|
2663
|
+
end
|
|
2664
|
+
|
|
2665
|
+
#
|
|
2666
|
+
# call-seq: ==
|
|
2667
|
+
#
|
|
2668
|
+
# quat1 == quat2 : evaluates equality.
|
|
2669
|
+
#
|
|
2670
|
+
def ==( other )
|
|
2671
|
+
if other.class == RQuat
|
|
2672
|
+
if (x-other.x).abs<=Float::EPSILON &&
|
|
2673
|
+
(y-other.y).abs<=Float::EPSILON &&
|
|
2674
|
+
(z-other.z).abs<=Float::EPSILON &&
|
|
2675
|
+
(w-other.w).abs<=Float::EPSILON
|
|
2676
|
+
return true
|
|
2677
|
+
else
|
|
2678
|
+
return false
|
|
2679
|
+
end
|
|
2680
|
+
else
|
|
2681
|
+
return false
|
|
2682
|
+
end
|
|
2683
|
+
end
|
|
2684
|
+
|
|
2685
|
+
#
|
|
2686
|
+
# call-seq: quat1.add!( quat2 )
|
|
2687
|
+
#
|
|
2688
|
+
# quat1 += quat2 : appends the elements of +quat2+ into corresponding +quat1+ elements.
|
|
2689
|
+
#
|
|
2690
|
+
def add!( other )
|
|
2691
|
+
if other.class != RQuat
|
|
2692
|
+
raise TypeError, "RQ#add! : Unknown type #{other.class}."
|
|
2693
|
+
return nil
|
|
2694
|
+
end
|
|
2695
|
+
|
|
2696
|
+
self.x += other.x
|
|
2697
|
+
self.y += other.y
|
|
2698
|
+
self.z += other.z
|
|
2699
|
+
self.w += other.w
|
|
2700
|
+
|
|
2701
|
+
return self
|
|
2702
|
+
end
|
|
2703
|
+
|
|
2704
|
+
#
|
|
2705
|
+
# call-seq: quat1.sub!( quat2 )
|
|
2706
|
+
#
|
|
2707
|
+
# quat1 -= quat2 : subtracts the elements of +quat2+ from corresponding +quat1+ elements.
|
|
2708
|
+
#
|
|
2709
|
+
def sub!( other )
|
|
2710
|
+
if other.class != RQuat
|
|
2711
|
+
raise TypeError, "RQuat#sub! : Unknown type #{other.class}."
|
|
2712
|
+
return nil
|
|
2713
|
+
end
|
|
2714
|
+
|
|
2715
|
+
self.x -= other.x
|
|
2716
|
+
self.y -= other.y
|
|
2717
|
+
self.z -= other.z
|
|
2718
|
+
self.w -= other.w
|
|
2719
|
+
|
|
2720
|
+
return self
|
|
2721
|
+
end
|
|
1805
2722
|
|
|
1806
2723
|
#
|
|
1807
|
-
# call-seq:
|
|
2724
|
+
# call-seq: quat1.mul!( quat2 )
|
|
1808
2725
|
#
|
|
1809
|
-
#
|
|
2726
|
+
# quat1 *= quat2
|
|
1810
2727
|
#
|
|
1811
|
-
def
|
|
1812
|
-
|
|
1813
|
-
|
|
2728
|
+
def mul!( other )
|
|
2729
|
+
case other
|
|
2730
|
+
when RQuat
|
|
2731
|
+
q1x = self.x
|
|
2732
|
+
q1y = self.y
|
|
2733
|
+
q1z = self.z
|
|
2734
|
+
q1w = self.w
|
|
2735
|
+
q2x = other.x
|
|
2736
|
+
q2y = other.y
|
|
2737
|
+
q2z = other.z
|
|
2738
|
+
q2w = other.w
|
|
2739
|
+
|
|
2740
|
+
x = q1w*q2x + q1x*q2w + q1y*q2z - q1z*q2y
|
|
2741
|
+
y = q1w*q2y - q1x*q2z + q1y*q2w + q1z*q2x
|
|
2742
|
+
z = q1w*q2z + q1x*q2y - q1y*q2x + q1z*q2w
|
|
2743
|
+
w = q1w*q2w - q1x*q2x - q1y*q2y - q1z*q2z
|
|
2744
|
+
|
|
2745
|
+
self.x = x
|
|
2746
|
+
self.y = y
|
|
2747
|
+
self.z = z
|
|
2748
|
+
self.w = w
|
|
2749
|
+
|
|
2750
|
+
return self
|
|
2751
|
+
|
|
2752
|
+
when Float, Integer
|
|
2753
|
+
self.x *= other
|
|
2754
|
+
self.y *= other
|
|
2755
|
+
self.z *= other
|
|
2756
|
+
self.w *= other
|
|
2757
|
+
return self
|
|
2758
|
+
|
|
2759
|
+
else
|
|
2760
|
+
raise TypeError, "RQuat#mul! : Unknown type #{other.class}."
|
|
1814
2761
|
return nil
|
|
1815
2762
|
end
|
|
1816
|
-
@e[0] = arg.x
|
|
1817
|
-
@e[1] = arg.y
|
|
1818
|
-
@e[2] = arg.z
|
|
1819
2763
|
end
|
|
1820
2764
|
|
|
1821
2765
|
#
|
|
1822
|
-
# call-seq:
|
|
2766
|
+
# call-seq: rotationMarix(mtx4) -> self
|
|
1823
2767
|
#
|
|
1824
|
-
#
|
|
2768
|
+
# Makes a rotation quaternion from a rotation matrix +mtx4+ (RMtx4).
|
|
1825
2769
|
#
|
|
1826
|
-
def
|
|
1827
|
-
|
|
1828
|
-
|
|
2770
|
+
def rotationMatrix( mtx )
|
|
2771
|
+
if mtx.class != RMtx3 && mtx.class != RMtx4
|
|
2772
|
+
raise TypeError, "RQuat#rotationMatrix : Unknown type #{mtx.class}."
|
|
2773
|
+
return nil
|
|
2774
|
+
end
|
|
2775
|
+
|
|
2776
|
+
diag00 = mtx.getElement(0,0)
|
|
2777
|
+
diag11 = mtx.getElement(1,1)
|
|
2778
|
+
diag22 = mtx.getElement(2,2)
|
|
2779
|
+
|
|
2780
|
+
if ( diag00 + diag11 + diag22 > 0.0 )
|
|
2781
|
+
t = diag00 + diag11 + diag22 + 1.0
|
|
2782
|
+
s = 1.0 / ( Math.sqrt( t ) * 2.0 )
|
|
2783
|
+
self.w = s * t
|
|
2784
|
+
self.z = (mtx.getElement(1,0) - mtx.getElement(0,1)) * s
|
|
2785
|
+
self.y = (mtx.getElement(0,2) - mtx.getElement(2,0)) * s
|
|
2786
|
+
self.x = (mtx.getElement(2,1) - mtx.getElement(1,2)) * s
|
|
2787
|
+
elsif ( diag00 > diag11 && diag00 > diag22 )
|
|
2788
|
+
t = diag00 - diag11 - diag22 + 1.0
|
|
2789
|
+
s = 1.0 / ( Math.sqrt( t ) * 2.0 )
|
|
2790
|
+
self.x = s * t
|
|
2791
|
+
self.y = (mtx.getElement(1,0) + mtx.getElement(0,1)) * s
|
|
2792
|
+
self.z = (mtx.getElement(0,2) + mtx.getElement(2,0)) * s
|
|
2793
|
+
self.w = (mtx.getElement(2,1) - mtx.getElement(1,2)) * s
|
|
2794
|
+
elsif ( diag11 > diag22 )
|
|
2795
|
+
t = -diag00 + diag11 - diag22 + 1.0
|
|
2796
|
+
s = 1.0 / ( Math.sqrt( t ) * 2.0 )
|
|
2797
|
+
self.y = s * t
|
|
2798
|
+
self.x = (mtx.getElement(1,0) + mtx.getElement(0,1)) * s
|
|
2799
|
+
self.w = (mtx.getElement(0,2) - mtx.getElement(2,0)) * s
|
|
2800
|
+
self.z = (mtx.getElement(2,1) + mtx.getElement(1,2)) * s
|
|
2801
|
+
else
|
|
2802
|
+
t = -diag00 - diag11 + diag22 + 1.0
|
|
2803
|
+
s = 1.0 / ( Math.sqrt( t ) * 2.0 )
|
|
2804
|
+
self.z = s * t
|
|
2805
|
+
self.w = (mtx.getElement(1,0) - mtx.getElement(0,1)) * s
|
|
2806
|
+
self.x = (mtx.getElement(0,2) + mtx.getElement(2,0)) * s
|
|
2807
|
+
self.y = (mtx.getElement(2,1) + mtx.getElement(1,2)) * s
|
|
2808
|
+
end
|
|
1829
2809
|
|
|
2810
|
+
return self
|
|
2811
|
+
end
|
|
1830
2812
|
|
|
1831
2813
|
#
|
|
1832
|
-
# call-seq:
|
|
2814
|
+
# call-seq: rotationAxis(axis,radian) -> self
|
|
1833
2815
|
#
|
|
1834
|
-
#
|
|
2816
|
+
# Makes a quaternion that rotates around the +axis+.
|
|
1835
2817
|
#
|
|
1836
|
-
def
|
|
2818
|
+
def rotationAxis( axis, radian )
|
|
2819
|
+
if axis.class != RVec3
|
|
2820
|
+
raise TypeError, "RQuat#rotationAxis : Unknown type #{axis.class}."
|
|
2821
|
+
return nil
|
|
2822
|
+
end
|
|
2823
|
+
|
|
2824
|
+
s = Math.sin( radian / 2.0 )
|
|
2825
|
+
self.x = s * axis.x
|
|
2826
|
+
self.y = s * axis.y
|
|
2827
|
+
self.z = s * axis.z
|
|
2828
|
+
self.w = Math.cos( radian / 2.0 )
|
|
2829
|
+
|
|
2830
|
+
return self
|
|
2831
|
+
end
|
|
1837
2832
|
|
|
1838
2833
|
#
|
|
1839
|
-
# call-seq:
|
|
2834
|
+
# call-seq: toAxisAngle -> [axis,radian]
|
|
1840
2835
|
#
|
|
1841
|
-
# Returns
|
|
2836
|
+
# Returns its rotation axis (RVec3) and rotation angle (in radian).
|
|
1842
2837
|
#
|
|
1843
|
-
def
|
|
2838
|
+
def toAxisAngle
|
|
2839
|
+
axis = RVec3.new( self.x, self.y, self.z ).normalize!
|
|
2840
|
+
radian = 2.0 * Math.acos( self.w )
|
|
2841
|
+
|
|
2842
|
+
return [ axis, radian ]
|
|
2843
|
+
end
|
|
2844
|
+
end
|
|
2845
|
+
|
|
2846
|
+
#
|
|
2847
|
+
# Document-class: RMath3D::RVec2
|
|
2848
|
+
# provies 2 element vector arithmetic.
|
|
2849
|
+
#
|
|
2850
|
+
class RVec2
|
|
1844
2851
|
|
|
1845
2852
|
#
|
|
1846
|
-
# call-seq:
|
|
2853
|
+
# call-seq:
|
|
2854
|
+
# RVec2.new -> (0,0)
|
|
2855
|
+
# RVec2.new(e) -> (e,e)
|
|
2856
|
+
# RVec2.new( other ) : Copy Constructor
|
|
2857
|
+
# RVec2.new( e0, e1 ) -> (e0,e1)
|
|
1847
2858
|
#
|
|
1848
|
-
#
|
|
2859
|
+
# Creates a new 3 element vector.
|
|
1849
2860
|
#
|
|
1850
|
-
def
|
|
2861
|
+
def initialize( *a )
|
|
2862
|
+
@e = []
|
|
2863
|
+
case a.length
|
|
2864
|
+
when 0
|
|
2865
|
+
@e = [0.0, 0.0]
|
|
2866
|
+
when 1
|
|
2867
|
+
case a[0]
|
|
2868
|
+
when Float, Integer
|
|
2869
|
+
@e = [ a[0], a[0] ]
|
|
2870
|
+
when RVec2
|
|
2871
|
+
@e = [ a[0].x, a[0].y ]
|
|
2872
|
+
else
|
|
2873
|
+
raise TypeError, "RVec2#initialize : Unknown type #{a[0].class}."
|
|
2874
|
+
return nil
|
|
2875
|
+
end
|
|
2876
|
+
when 2
|
|
2877
|
+
a.each_with_index do |elem, index|
|
|
2878
|
+
case elem
|
|
2879
|
+
when Float, Integer
|
|
2880
|
+
@e[index] = elem
|
|
2881
|
+
else
|
|
2882
|
+
raise TypeError, "RVec2#initialize : Unknown type #{elem.class}."
|
|
2883
|
+
return nil
|
|
2884
|
+
end
|
|
2885
|
+
end
|
|
2886
|
+
else
|
|
2887
|
+
raise RuntimeError, "RVec2#initialize : wrong # of arguments (#{a.length})"
|
|
2888
|
+
return nil
|
|
2889
|
+
end
|
|
2890
|
+
return self
|
|
2891
|
+
end
|
|
1851
2892
|
|
|
1852
2893
|
#
|
|
1853
|
-
# call-seq:
|
|
2894
|
+
# call-seq: to_s
|
|
1854
2895
|
#
|
|
1855
|
-
# Returns
|
|
2896
|
+
# Returns human-readable string.
|
|
1856
2897
|
#
|
|
1857
|
-
def
|
|
2898
|
+
def to_s
|
|
2899
|
+
return "( #{@e[0]}, #{@e[1]} )"
|
|
2900
|
+
end
|
|
1858
2901
|
|
|
1859
2902
|
#
|
|
1860
|
-
# call-seq:
|
|
2903
|
+
# call-seq: to_a
|
|
1861
2904
|
#
|
|
1862
|
-
# Returns
|
|
2905
|
+
# Returns its elements as a new Array.
|
|
1863
2906
|
#
|
|
1864
|
-
def
|
|
1865
|
-
return
|
|
2907
|
+
def to_a
|
|
2908
|
+
return @e
|
|
1866
2909
|
end
|
|
1867
2910
|
|
|
1868
2911
|
#
|
|
1869
|
-
# call-seq:
|
|
2912
|
+
# call-seq: coerse(other)
|
|
1870
2913
|
#
|
|
1871
|
-
#
|
|
2914
|
+
# Resolves type mismatch.
|
|
1872
2915
|
#
|
|
1873
|
-
def
|
|
1874
|
-
|
|
2916
|
+
def coerce( arg )
|
|
2917
|
+
case arg
|
|
2918
|
+
when Float, Integer
|
|
2919
|
+
return [ self, arg ]
|
|
2920
|
+
else
|
|
2921
|
+
raise TypeError, "RVec2#coerce : #{arg.self} can't be coerced into #{self.class}."
|
|
2922
|
+
return nil
|
|
2923
|
+
end
|
|
1875
2924
|
end
|
|
1876
2925
|
|
|
1877
2926
|
#
|
|
1878
|
-
# call-seq:
|
|
2927
|
+
# call-seq: setElements( e0, e1 )
|
|
1879
2928
|
#
|
|
1880
|
-
#
|
|
2929
|
+
# Stores given 2 new values.
|
|
1881
2930
|
#
|
|
1882
|
-
def
|
|
1883
|
-
|
|
2931
|
+
def setElements( x, y )
|
|
2932
|
+
self.x = x
|
|
2933
|
+
self.y = y
|
|
1884
2934
|
end
|
|
1885
2935
|
|
|
1886
2936
|
#
|
|
1887
|
-
# call-seq:
|
|
2937
|
+
# call-seq: vec2[i]= value
|
|
1888
2938
|
#
|
|
1889
|
-
#
|
|
2939
|
+
# Stores +value+ at +i+.
|
|
1890
2940
|
#
|
|
1891
|
-
def
|
|
1892
|
-
|
|
1893
|
-
raise TypeError, "RQuat#dot : Unknown type q1:#{q2.class}, q2:#{q2.class}."
|
|
1894
|
-
return nil
|
|
1895
|
-
end
|
|
1896
|
-
return q1.x*q2.x + q1.y*q2.y + q1.z*q2.z + q1.w*q2.w
|
|
2941
|
+
def []=(i,value)
|
|
2942
|
+
@e[i] = value
|
|
1897
2943
|
end
|
|
1898
2944
|
|
|
1899
2945
|
#
|
|
1900
|
-
# call-seq:
|
|
2946
|
+
# call-seq: x= value
|
|
1901
2947
|
#
|
|
1902
|
-
#
|
|
1903
|
-
# +q_b+ at time +t+ (0.0~1.0).
|
|
2948
|
+
# Stores +value+ as +x+.
|
|
1904
2949
|
#
|
|
1905
|
-
def
|
|
1906
|
-
if q1.class != RQuat || q2.class != RQuat
|
|
1907
|
-
raise TypeError, "RQuat#slerp : Unknown type q1:#{q2.class}, q2:#{q2.class}."
|
|
1908
|
-
return nil
|
|
1909
|
-
end
|
|
1910
|
-
s1 = 0.0
|
|
1911
|
-
s2 = 0.0
|
|
1912
|
-
it = 1.0 - t
|
|
1913
|
-
cosine = RQuat.dot( q1, q2 )
|
|
1914
|
-
|
|
1915
|
-
qn1 = q1
|
|
1916
|
-
qn2 = q2
|
|
1917
|
-
|
|
1918
|
-
if ( cosine < 0.0 )
|
|
1919
|
-
cosine *= -1.0
|
|
1920
|
-
qn1 *= -1.0
|
|
1921
|
-
end
|
|
2950
|
+
def x=(value) @e[0] = value end
|
|
1922
2951
|
|
|
1923
|
-
|
|
1924
|
-
|
|
1925
|
-
|
|
2952
|
+
#
|
|
2953
|
+
# call-seq: y= value
|
|
2954
|
+
#
|
|
2955
|
+
# Stores +value+ as +y+.
|
|
2956
|
+
#
|
|
2957
|
+
def y=(value) @e[1] = value end
|
|
1926
2958
|
|
|
1927
|
-
|
|
1928
|
-
|
|
1929
|
-
|
|
1930
|
-
|
|
1931
|
-
|
|
1932
|
-
|
|
2959
|
+
#
|
|
2960
|
+
# call-seq: vec3[i] -> value
|
|
2961
|
+
#
|
|
2962
|
+
# Returns the element at +i+.
|
|
2963
|
+
#
|
|
2964
|
+
def [](i)
|
|
2965
|
+
@e[i]
|
|
2966
|
+
end
|
|
1933
2967
|
|
|
1934
|
-
|
|
1935
|
-
|
|
1936
|
-
|
|
2968
|
+
#
|
|
2969
|
+
# call-seq: x -> value
|
|
2970
|
+
#
|
|
2971
|
+
# Returns the value of +x+.
|
|
2972
|
+
#
|
|
2973
|
+
def x() return @e[0] end
|
|
1937
2974
|
|
|
1938
|
-
|
|
1939
|
-
|
|
2975
|
+
#
|
|
2976
|
+
# call-seq: y -> value
|
|
2977
|
+
#
|
|
2978
|
+
# Returns the value of +y+.
|
|
2979
|
+
#
|
|
2980
|
+
def y() return @e[1] end
|
|
1940
2981
|
|
|
1941
2982
|
#
|
|
1942
|
-
# call-seq:
|
|
2983
|
+
# call-seq: getLength
|
|
1943
2984
|
#
|
|
1944
|
-
#
|
|
2985
|
+
# Returns the Euclidean length.
|
|
1945
2986
|
#
|
|
1946
|
-
def
|
|
1947
|
-
|
|
1948
|
-
self.y = 0.0
|
|
1949
|
-
self.z = 0.0
|
|
1950
|
-
self.w = 1.0
|
|
1951
|
-
return self
|
|
2987
|
+
def getLength
|
|
2988
|
+
return Math.sqrt( @e[0]*@e[0] + @e[1]*@e[1] )
|
|
1952
2989
|
end
|
|
1953
2990
|
|
|
1954
2991
|
#
|
|
1955
|
-
# call-seq:
|
|
2992
|
+
# call-seq: getLengthSq
|
|
1956
2993
|
#
|
|
1957
|
-
# Returns
|
|
2994
|
+
# Returns the squared Euclidean length.
|
|
1958
2995
|
#
|
|
1959
|
-
def
|
|
1960
|
-
return
|
|
2996
|
+
def getLengthSq
|
|
2997
|
+
return (@e[0]*@e[0] + @e[1]*@e[1]).to_f
|
|
1961
2998
|
end
|
|
1962
2999
|
|
|
1963
3000
|
#
|
|
1964
|
-
# call-seq:
|
|
3001
|
+
# call-seq: RVec2.dot(v_a,v_b) -> value
|
|
1965
3002
|
#
|
|
1966
|
-
#
|
|
3003
|
+
# Calculates the dot product of +v_a+ and +v_b+.
|
|
1967
3004
|
#
|
|
1968
|
-
def
|
|
1969
|
-
|
|
1970
|
-
@e[1] *= -1.0
|
|
1971
|
-
@e[2] *= -1.0
|
|
1972
|
-
return self
|
|
3005
|
+
def RVec2.dot( v1, v2 )
|
|
3006
|
+
return v1.x*v2.x + v1.y*v2.y
|
|
1973
3007
|
end
|
|
1974
3008
|
|
|
1975
3009
|
#
|
|
1976
|
-
# call-seq:
|
|
3010
|
+
# call-seq: RVec2.cross(v_a,v_b) -> value
|
|
1977
3011
|
#
|
|
1978
|
-
#
|
|
3012
|
+
# Calculates the cross product of +v_a+ and +v_b+.
|
|
1979
3013
|
#
|
|
1980
|
-
def
|
|
1981
|
-
|
|
1982
|
-
return RQuat.new( -@e[0]/length_sq, -@e[1]/length_sq, -@e[2]/length_sq, @e[3]/length_sq )
|
|
3014
|
+
def RVec2.cross( v1, v2 )
|
|
3015
|
+
return v1.x*v2.y - v1.y*v2.x
|
|
1983
3016
|
end
|
|
1984
3017
|
|
|
1985
3018
|
#
|
|
1986
|
-
# call-seq:
|
|
3019
|
+
# call-seq: transform(mtx2) -> transformed RVec2
|
|
1987
3020
|
#
|
|
1988
|
-
#
|
|
3021
|
+
# Returns new RVec2 containing the result of the transformation of
|
|
3022
|
+
# RVec2(self.x,self.y) by +mtx2+ (RMtx2).
|
|
1989
3023
|
#
|
|
1990
|
-
def
|
|
1991
|
-
|
|
1992
|
-
|
|
1993
|
-
|
|
1994
|
-
|
|
1995
|
-
|
|
1996
|
-
return self
|
|
3024
|
+
def transform( mtx2 )
|
|
3025
|
+
result = RVec2.new
|
|
3026
|
+
result.x = mtx2.e00 * self[0] + mtx2.e01 * self[1]
|
|
3027
|
+
result.y = mtx2.e10 * self[0] + mtx2.e11 * self[1]
|
|
3028
|
+
|
|
3029
|
+
return result
|
|
1997
3030
|
end
|
|
1998
3031
|
|
|
1999
3032
|
#
|
|
2000
|
-
# call-seq: getNormalized ->
|
|
3033
|
+
# call-seq: getNormalized -> RVec2
|
|
2001
3034
|
#
|
|
2002
|
-
# Returns normalized
|
|
3035
|
+
# Returns normalized vector.
|
|
2003
3036
|
#
|
|
2004
3037
|
def getNormalized
|
|
2005
|
-
|
|
2006
|
-
|
|
3038
|
+
l = getLength()
|
|
3039
|
+
l = 1.0/l
|
|
3040
|
+
return RVec2.new( @e[0]*l, @e[1]*l )
|
|
2007
3041
|
end
|
|
2008
3042
|
|
|
2009
3043
|
#
|
|
@@ -2012,18 +3046,17 @@ module RMath3D
|
|
|
2012
3046
|
# Normalizes itself.
|
|
2013
3047
|
#
|
|
2014
3048
|
def normalize!
|
|
2015
|
-
|
|
2016
|
-
|
|
2017
|
-
@e[
|
|
2018
|
-
@e[
|
|
2019
|
-
@e[3] /= length
|
|
3049
|
+
l = getLength()
|
|
3050
|
+
l = 1.0/l
|
|
3051
|
+
@e[0] *= l
|
|
3052
|
+
@e[1] *= l
|
|
2020
3053
|
return self
|
|
2021
3054
|
end
|
|
2022
3055
|
|
|
2023
3056
|
#
|
|
2024
3057
|
# call-seq: +
|
|
2025
3058
|
#
|
|
2026
|
-
# +
|
|
3059
|
+
# +vec : Unary plus operator.
|
|
2027
3060
|
#
|
|
2028
3061
|
def +@
|
|
2029
3062
|
return self
|
|
@@ -2032,63 +3065,49 @@ module RMath3D
|
|
|
2032
3065
|
#
|
|
2033
3066
|
# call-seq: -
|
|
2034
3067
|
#
|
|
2035
|
-
# -
|
|
3068
|
+
# -vec : Unary minus operator.
|
|
2036
3069
|
#
|
|
2037
3070
|
def -@
|
|
2038
|
-
return
|
|
3071
|
+
return RVec2.new( -@e[0], -@e[1] )
|
|
2039
3072
|
end
|
|
2040
3073
|
|
|
2041
3074
|
#
|
|
2042
3075
|
# call-seq: +
|
|
2043
3076
|
#
|
|
2044
|
-
#
|
|
3077
|
+
# vec1 + vec2 : Binary plus operator.
|
|
2045
3078
|
#
|
|
2046
3079
|
def +( arg )
|
|
2047
|
-
if arg.class !=
|
|
2048
|
-
raise TypeError, "
|
|
3080
|
+
if arg.class != RVec2
|
|
3081
|
+
raise TypeError, "RVec2#+ : Unknown type #{arg.class}."
|
|
2049
3082
|
return nil
|
|
2050
3083
|
end
|
|
2051
|
-
|
|
3084
|
+
RVec2.new( x+arg.x, y+arg.y )
|
|
2052
3085
|
end
|
|
2053
3086
|
|
|
2054
3087
|
#
|
|
2055
3088
|
# call-seq: -
|
|
2056
3089
|
#
|
|
2057
|
-
#
|
|
3090
|
+
# vec1 - vec2 : Binary minus operator.
|
|
2058
3091
|
#
|
|
2059
3092
|
def -( arg )
|
|
2060
|
-
if arg.class !=
|
|
2061
|
-
raise TypeError, "
|
|
3093
|
+
if arg.class != RVec2
|
|
3094
|
+
raise TypeError, "RVec2#- : Unknown type #{arg.class}."
|
|
2062
3095
|
return nil
|
|
2063
3096
|
end
|
|
2064
|
-
|
|
3097
|
+
RVec2.new( x-arg.x, y-arg.y )
|
|
2065
3098
|
end
|
|
2066
3099
|
|
|
2067
3100
|
#
|
|
2068
3101
|
# call-seq: *
|
|
2069
3102
|
#
|
|
2070
|
-
#
|
|
3103
|
+
# vec1 * vec2 : Binary multiply operator.
|
|
2071
3104
|
#
|
|
2072
3105
|
def *( arg )
|
|
2073
3106
|
case arg
|
|
2074
|
-
when
|
|
2075
|
-
|
|
2076
|
-
q1y = self.y
|
|
2077
|
-
q1z = self.z
|
|
2078
|
-
q1w = self.w
|
|
2079
|
-
q2x = arg.x
|
|
2080
|
-
q2y = arg.y
|
|
2081
|
-
q2z = arg.z
|
|
2082
|
-
q2w = arg.w
|
|
2083
|
-
x = q1w*q2x + q1x*q2w + q1y*q2z - q1z*q2y
|
|
2084
|
-
y = q1w*q2y - q1x*q2z + q1y*q2w + q1z*q2x
|
|
2085
|
-
z = q1w*q2z + q1x*q2y - q1y*q2x + q1z*q2w
|
|
2086
|
-
w = q1w*q2w - q1x*q2x - q1y*q2y - q1z*q2z
|
|
2087
|
-
return RQuat.new( x, y, z, w )
|
|
2088
|
-
when Fixnum, Float
|
|
2089
|
-
return RQuat.new( @e[0]*arg, @e[1]*arg, @e[2]*arg, @e[3]*arg )
|
|
3107
|
+
when Float, Integer
|
|
3108
|
+
return RVec2.new( @e[0]*arg, @e[1]*arg )
|
|
2090
3109
|
else
|
|
2091
|
-
raise TypeError, "
|
|
3110
|
+
raise TypeError, "RVec2#* : Unknown type #{arg}."
|
|
2092
3111
|
return nil
|
|
2093
3112
|
end
|
|
2094
3113
|
end
|
|
@@ -2096,183 +3115,71 @@ module RMath3D
|
|
|
2096
3115
|
#
|
|
2097
3116
|
# call-seq: ==
|
|
2098
3117
|
#
|
|
2099
|
-
#
|
|
3118
|
+
# vec1 == vec2 : evaluates equality.
|
|
2100
3119
|
#
|
|
2101
3120
|
def ==( other )
|
|
2102
|
-
if other.class
|
|
2103
|
-
|
|
2104
|
-
|
|
2105
|
-
|
|
2106
|
-
|
|
2107
|
-
|
|
2108
|
-
|
|
2109
|
-
(z-other.z).abs<=Float::EPSILON &&
|
|
2110
|
-
(w-other.w).abs<=Float::EPSILON
|
|
2111
|
-
return true
|
|
3121
|
+
if other.class == RVec2
|
|
3122
|
+
if (x-other.x).abs<=Float::EPSILON &&
|
|
3123
|
+
(y-other.y).abs<=Float::EPSILON
|
|
3124
|
+
return true
|
|
3125
|
+
else
|
|
3126
|
+
return false
|
|
3127
|
+
end
|
|
2112
3128
|
else
|
|
2113
3129
|
return false
|
|
2114
3130
|
end
|
|
2115
3131
|
end
|
|
2116
3132
|
|
|
2117
3133
|
#
|
|
2118
|
-
# call-seq:
|
|
3134
|
+
# call-seq: vec1.add!( vec2 )
|
|
2119
3135
|
#
|
|
2120
|
-
#
|
|
3136
|
+
# vec1 += vec2 : appends the elements of +vec2+ into corresponding +vec1+ elements.
|
|
2121
3137
|
#
|
|
2122
3138
|
def add!( other )
|
|
2123
|
-
if other.class !=
|
|
2124
|
-
raise TypeError, "
|
|
3139
|
+
if other.class != RVec2
|
|
3140
|
+
raise TypeError, "RVec2#add! : Unknown type #{other.class}."
|
|
2125
3141
|
return nil
|
|
2126
3142
|
end
|
|
2127
3143
|
|
|
2128
3144
|
self.x += other.x
|
|
2129
3145
|
self.y += other.y
|
|
2130
|
-
self.z += other.z
|
|
2131
|
-
self.w += other.w
|
|
2132
3146
|
|
|
2133
3147
|
return self
|
|
2134
3148
|
end
|
|
2135
3149
|
|
|
2136
3150
|
#
|
|
2137
|
-
# call-seq:
|
|
3151
|
+
# call-seq: vec1.sub!( vec2 )
|
|
2138
3152
|
#
|
|
2139
|
-
#
|
|
3153
|
+
# vec1 -= vec2 : subtracts the elements of +vec2+ from corresponding +vec1+ elements.
|
|
2140
3154
|
#
|
|
2141
3155
|
def sub!( other )
|
|
2142
|
-
if other.class !=
|
|
2143
|
-
raise TypeError, "
|
|
3156
|
+
if other.class != RVec2
|
|
3157
|
+
raise TypeError, "RVec2#sub! : Unknown type #{other.class}."
|
|
2144
3158
|
return nil
|
|
2145
3159
|
end
|
|
2146
3160
|
|
|
2147
3161
|
self.x -= other.x
|
|
2148
3162
|
self.y -= other.y
|
|
2149
|
-
self.z -= other.z
|
|
2150
|
-
self.w -= other.w
|
|
2151
|
-
|
|
2152
|
-
return self
|
|
2153
|
-
end
|
|
2154
|
-
|
|
2155
|
-
#
|
|
2156
|
-
# call-seq: quat1.mul!( quat2 )
|
|
2157
|
-
#
|
|
2158
|
-
# quat1 *= quat2
|
|
2159
|
-
#
|
|
2160
|
-
def mul!( other )
|
|
2161
|
-
case other
|
|
2162
|
-
when RQuat
|
|
2163
|
-
q1x = self.x
|
|
2164
|
-
q1y = self.y
|
|
2165
|
-
q1z = self.z
|
|
2166
|
-
q1w = self.w
|
|
2167
|
-
q2x = other.x
|
|
2168
|
-
q2y = other.y
|
|
2169
|
-
q2z = other.z
|
|
2170
|
-
q2w = other.w
|
|
2171
|
-
|
|
2172
|
-
x = q1w*q2x + q1x*q2w + q1y*q2z - q1z*q2y
|
|
2173
|
-
y = q1w*q2y - q1x*q2z + q1y*q2w + q1z*q2x
|
|
2174
|
-
z = q1w*q2z + q1x*q2y - q1y*q2x + q1z*q2w
|
|
2175
|
-
w = q1w*q2w - q1x*q2x - q1y*q2y - q1z*q2z
|
|
2176
|
-
|
|
2177
|
-
self.x = x
|
|
2178
|
-
self.y = y
|
|
2179
|
-
self.z = z
|
|
2180
|
-
self.w = w
|
|
2181
|
-
|
|
2182
|
-
return self
|
|
2183
|
-
|
|
2184
|
-
when Fixnum, Float
|
|
2185
|
-
self.x *= other
|
|
2186
|
-
self.y *= other
|
|
2187
|
-
self.z *= other
|
|
2188
|
-
self.w *= other
|
|
2189
|
-
return self
|
|
2190
|
-
|
|
2191
|
-
else
|
|
2192
|
-
raise TypeError, "RQuat#mul! : Unknown type #{other.class}."
|
|
2193
|
-
return nil
|
|
2194
|
-
end
|
|
2195
|
-
end
|
|
2196
|
-
|
|
2197
|
-
#
|
|
2198
|
-
# call-seq: rotationMarix(mtx4) -> self
|
|
2199
|
-
#
|
|
2200
|
-
# Makes a rotation quaternion from a rotation matrix +mtx4+ (RMtx4).
|
|
2201
|
-
#
|
|
2202
|
-
def rotationMatrix( mtx )
|
|
2203
|
-
if mtx.class != RMtx3 && mtx.class != RMtx4
|
|
2204
|
-
raise TypeError, "RQuat#rotationMatrix : Unknown type #{mtx.class}."
|
|
2205
|
-
return nil
|
|
2206
|
-
end
|
|
2207
|
-
|
|
2208
|
-
diag00 = mtx.getElement(0,0)
|
|
2209
|
-
diag11 = mtx.getElement(1,1)
|
|
2210
|
-
diag22 = mtx.getElement(2,2)
|
|
2211
|
-
|
|
2212
|
-
if ( diag00 + diag11 + diag22 > 0.0 )
|
|
2213
|
-
t = diag00 + diag11 + diag22 + 1.0
|
|
2214
|
-
s = 1.0 / ( Math.sqrt( t ) * 2.0 )
|
|
2215
|
-
self.w = s * t
|
|
2216
|
-
self.z = (mtx.getElement(1,0) - mtx.getElement(0,1)) * s
|
|
2217
|
-
self.y = (mtx.getElement(0,2) - mtx.getElement(2,0)) * s
|
|
2218
|
-
self.x = (mtx.getElement(2,1) - mtx.getElement(1,2)) * s
|
|
2219
|
-
elsif ( diag00 > diag11 && diag00 > diag22 )
|
|
2220
|
-
t = diag00 - diag11 - diag22 + 1.0
|
|
2221
|
-
s = 1.0 / ( Math.sqrt( t ) * 2.0 )
|
|
2222
|
-
self.x = s * t
|
|
2223
|
-
self.y = (mtx.getElement(1,0) + mtx.getElement(0,1)) * s
|
|
2224
|
-
self.z = (mtx.getElement(0,2) + mtx.getElement(2,0)) * s
|
|
2225
|
-
self.w = (mtx.getElement(2,1) - mtx.getElement(1,2)) * s
|
|
2226
|
-
elsif ( diag11 > diag22 )
|
|
2227
|
-
t = -diag00 + diag11 - diag22 + 1.0
|
|
2228
|
-
s = 1.0 / ( Math.sqrt( t ) * 2.0 )
|
|
2229
|
-
self.y = s * t
|
|
2230
|
-
self.x = (mtx.getElement(1,0) + mtx.getElement(0,1)) * s
|
|
2231
|
-
self.w = (mtx.getElement(0,2) - mtx.getElement(2,0)) * s
|
|
2232
|
-
self.z = (mtx.getElement(2,1) + mtx.getElement(1,2)) * s
|
|
2233
|
-
else
|
|
2234
|
-
t = -diag00 - diag11 + diag22 + 1.0
|
|
2235
|
-
s = 1.0 / ( Math.sqrt( t ) * 2.0 )
|
|
2236
|
-
self.z = s * t
|
|
2237
|
-
self.w = (mtx.getElement(1,0) - mtx.getElement(0,1)) * s
|
|
2238
|
-
self.x = (mtx.getElement(0,2) + mtx.getElement(2,0)) * s
|
|
2239
|
-
self.y = (mtx.getElement(2,1) + mtx.getElement(1,2)) * s
|
|
2240
|
-
end
|
|
2241
3163
|
|
|
2242
3164
|
return self
|
|
2243
3165
|
end
|
|
2244
3166
|
|
|
2245
3167
|
#
|
|
2246
|
-
# call-seq:
|
|
3168
|
+
# call-seq: vec1.mul!( vec2 )
|
|
2247
3169
|
#
|
|
2248
|
-
#
|
|
3170
|
+
# vec1 *= vec2
|
|
2249
3171
|
#
|
|
2250
|
-
def
|
|
2251
|
-
if
|
|
2252
|
-
raise TypeError, "
|
|
3172
|
+
def mul!( arg )
|
|
3173
|
+
if !(arg.class == Float || arg.class == Integer)
|
|
3174
|
+
raise TypeError, "RVec2#mul! : Unknown type #{arg.class}."
|
|
2253
3175
|
return nil
|
|
2254
3176
|
end
|
|
2255
3177
|
|
|
2256
|
-
|
|
2257
|
-
self.
|
|
2258
|
-
self.y = s * axis.y
|
|
2259
|
-
self.z = s * axis.z
|
|
2260
|
-
self.w = Math.cos( radian / 2.0 )
|
|
3178
|
+
self.x *= arg
|
|
3179
|
+
self.y *= arg
|
|
2261
3180
|
|
|
2262
3181
|
return self
|
|
2263
3182
|
end
|
|
2264
|
-
|
|
2265
|
-
#
|
|
2266
|
-
# call-seq: toAxisAngle -> [axis,radian]
|
|
2267
|
-
#
|
|
2268
|
-
# Returns its rotation axis (RVec3) and rotation angle (in radian).
|
|
2269
|
-
#
|
|
2270
|
-
def toAxisAngle
|
|
2271
|
-
axis = RVec3.new( self.x, self.y, self.z ).normalize!
|
|
2272
|
-
radian = 2.0 * Math.acos( self.w )
|
|
2273
|
-
|
|
2274
|
-
return [ axis, radian ]
|
|
2275
|
-
end
|
|
2276
3183
|
end
|
|
2277
3184
|
|
|
2278
3185
|
#
|
|
@@ -2297,7 +3204,7 @@ module RMath3D
|
|
|
2297
3204
|
@e = [0.0, 0.0, 0.0]
|
|
2298
3205
|
when 1
|
|
2299
3206
|
case a[0]
|
|
2300
|
-
when
|
|
3207
|
+
when Float, Integer
|
|
2301
3208
|
@e = [ a[0], a[0], a[0] ]
|
|
2302
3209
|
when RVec3
|
|
2303
3210
|
@e = [ a[0].x, a[0].y, a[0].z ]
|
|
@@ -2308,7 +3215,7 @@ module RMath3D
|
|
|
2308
3215
|
when 3
|
|
2309
3216
|
a.each_with_index do |elem, index|
|
|
2310
3217
|
case elem
|
|
2311
|
-
when
|
|
3218
|
+
when Float, Integer
|
|
2312
3219
|
@e[index] = elem
|
|
2313
3220
|
else
|
|
2314
3221
|
raise TypeError, "RVec3#initialize : Unknown type #{elem.class}."
|
|
@@ -2328,7 +3235,7 @@ module RMath3D
|
|
|
2328
3235
|
# Returns human-readable string.
|
|
2329
3236
|
#
|
|
2330
3237
|
def to_s
|
|
2331
|
-
return "( #{@e[0]}, #{@e[1]}, #{@e[2]} )
|
|
3238
|
+
return "( #{@e[0]}, #{@e[1]}, #{@e[2]} )"
|
|
2332
3239
|
end
|
|
2333
3240
|
|
|
2334
3241
|
#
|
|
@@ -2347,7 +3254,7 @@ module RMath3D
|
|
|
2347
3254
|
#
|
|
2348
3255
|
def coerce( arg )
|
|
2349
3256
|
case arg
|
|
2350
|
-
when
|
|
3257
|
+
when Float, Integer
|
|
2351
3258
|
return [ self, arg ]
|
|
2352
3259
|
else
|
|
2353
3260
|
raise TypeError, "RVec3#coerce : #{arg.self} can't be coerced into #{self.class}."
|
|
@@ -2651,9 +3558,9 @@ module RMath3D
|
|
|
2651
3558
|
t_z = q.w*self[2] + q.x*self[1] - q.y*self[0]
|
|
2652
3559
|
t_w = - q.x*self[0] - q.y*self[1] - q.z*self[2]
|
|
2653
3560
|
|
|
2654
|
-
result.x = -t_w*q.x + t_x*q.w - t_y*q.z + t_z*q.y
|
|
2655
|
-
result.y = -t_w*q.y + t_x*q.z + t_y*q.w - t_z*q.x
|
|
2656
|
-
result.z = -t_w*q.z - t_x*q.y + t_y*q.x + t_z*q.w
|
|
3561
|
+
result.x = -t_w*q.x + t_x*q.w - t_y*q.z + t_z*q.y
|
|
3562
|
+
result.y = -t_w*q.y + t_x*q.z + t_y*q.w - t_z*q.x
|
|
3563
|
+
result.z = -t_w*q.z - t_x*q.y + t_y*q.x + t_z*q.w
|
|
2657
3564
|
|
|
2658
3565
|
return result
|
|
2659
3566
|
end
|
|
@@ -2667,9 +3574,9 @@ module RMath3D
|
|
|
2667
3574
|
t_z = q.w*self[2] + q.x*self[1] - q.y*self[0]
|
|
2668
3575
|
t_w = - q.x*self[0] - q.y*self[1] - q.z*self[2]
|
|
2669
3576
|
|
|
2670
|
-
self.x = -t_w*q.x + t_x*q.w - t_y*q.z + t_z*q.y
|
|
2671
|
-
self.y = -t_w*q.y + t_x*q.z + t_y*q.w - t_z*q.x
|
|
2672
|
-
self.z = -t_w*q.z - t_x*q.y + t_y*q.x + t_z*q.w
|
|
3577
|
+
self.x = -t_w*q.x + t_x*q.w - t_y*q.z + t_z*q.y
|
|
3578
|
+
self.y = -t_w*q.y + t_x*q.z + t_y*q.w - t_z*q.x
|
|
3579
|
+
self.z = -t_w*q.z - t_x*q.y + t_y*q.x + t_z*q.w
|
|
2673
3580
|
|
|
2674
3581
|
return self
|
|
2675
3582
|
end
|
|
@@ -2750,7 +3657,7 @@ module RMath3D
|
|
|
2750
3657
|
#
|
|
2751
3658
|
def *( arg )
|
|
2752
3659
|
case arg
|
|
2753
|
-
when
|
|
3660
|
+
when Float, Integer
|
|
2754
3661
|
return RVec3.new( @e[0]*arg, @e[1]*arg, @e[2]*arg )
|
|
2755
3662
|
else
|
|
2756
3663
|
raise TypeError, "RVec3#* : Unknown type #{arg}."
|
|
@@ -2764,15 +3671,14 @@ module RMath3D
|
|
|
2764
3671
|
# vec1 == vec2 : evaluates equality.
|
|
2765
3672
|
#
|
|
2766
3673
|
def ==( other )
|
|
2767
|
-
if other.class
|
|
2768
|
-
|
|
2769
|
-
|
|
2770
|
-
|
|
2771
|
-
|
|
2772
|
-
|
|
2773
|
-
|
|
2774
|
-
|
|
2775
|
-
return true
|
|
3674
|
+
if other.class == RVec3
|
|
3675
|
+
if (x-other.x).abs<=Float::EPSILON &&
|
|
3676
|
+
(y-other.y).abs<=Float::EPSILON &&
|
|
3677
|
+
(z-other.z).abs<=Float::EPSILON
|
|
3678
|
+
return true
|
|
3679
|
+
else
|
|
3680
|
+
return false
|
|
3681
|
+
end
|
|
2776
3682
|
else
|
|
2777
3683
|
return false
|
|
2778
3684
|
end
|
|
@@ -2820,7 +3726,7 @@ module RMath3D
|
|
|
2820
3726
|
# vec1 *= vec2
|
|
2821
3727
|
#
|
|
2822
3728
|
def mul!( arg )
|
|
2823
|
-
if arg.class
|
|
3729
|
+
if !(arg.class == Float || arg.class == Integer)
|
|
2824
3730
|
raise TypeError, "RVec3#mul! : Unknown type #{arg.class}."
|
|
2825
3731
|
return nil
|
|
2826
3732
|
end
|
|
@@ -2855,7 +3761,7 @@ module RMath3D
|
|
|
2855
3761
|
@e = [0.0, 0.0, 0.0, 0.0]
|
|
2856
3762
|
when 1
|
|
2857
3763
|
case a[0]
|
|
2858
|
-
when
|
|
3764
|
+
when Float, Integer
|
|
2859
3765
|
@e = [ a[0], a[0], a[0], a[0] ]
|
|
2860
3766
|
when RVec3
|
|
2861
3767
|
@e = [ a[0].x, a[0].y, a[0].z, 0.0 ]
|
|
@@ -2868,7 +3774,7 @@ module RMath3D
|
|
|
2868
3774
|
when 4
|
|
2869
3775
|
a.each_with_index do |elem, index|
|
|
2870
3776
|
case elem
|
|
2871
|
-
when
|
|
3777
|
+
when Float, Integer
|
|
2872
3778
|
@e[index] = elem
|
|
2873
3779
|
else
|
|
2874
3780
|
raise TypeError, "RVec4#initialize : Unknown type #{elem.class}."
|
|
@@ -2888,7 +3794,7 @@ module RMath3D
|
|
|
2888
3794
|
# Returns human-readable string.
|
|
2889
3795
|
#
|
|
2890
3796
|
def to_s
|
|
2891
|
-
return "( #{@e[0]}, #{@e[1]}, #{@e[2]}, #{@e[3]} )
|
|
3797
|
+
return "( #{@e[0]}, #{@e[1]}, #{@e[2]}, #{@e[3]} )"
|
|
2892
3798
|
end
|
|
2893
3799
|
|
|
2894
3800
|
#
|
|
@@ -2907,7 +3813,7 @@ module RMath3D
|
|
|
2907
3813
|
#
|
|
2908
3814
|
def coerce( arg )
|
|
2909
3815
|
case arg
|
|
2910
|
-
when
|
|
3816
|
+
when Float, Integer
|
|
2911
3817
|
return [ self, arg ]
|
|
2912
3818
|
else
|
|
2913
3819
|
raise TypeError, "RVec4#coerce : #{arg.self} can't be coerced into #{self.class}."
|
|
@@ -3197,7 +4103,7 @@ module RMath3D
|
|
|
3197
4103
|
#
|
|
3198
4104
|
def *( arg )
|
|
3199
4105
|
case arg
|
|
3200
|
-
when
|
|
4106
|
+
when Float, Integer
|
|
3201
4107
|
return RVec4.new( @e[0]*arg, @e[1]*arg, @e[2]*arg, @e[3]*arg )
|
|
3202
4108
|
else
|
|
3203
4109
|
raise TypeError, "RVec4#* : Unknown type #{arg}."
|
|
@@ -3211,16 +4117,15 @@ module RMath3D
|
|
|
3211
4117
|
# vec1 == vec2 : evaluates equality.
|
|
3212
4118
|
#
|
|
3213
4119
|
def ==( other )
|
|
3214
|
-
if other.class
|
|
3215
|
-
|
|
3216
|
-
|
|
3217
|
-
|
|
3218
|
-
|
|
3219
|
-
|
|
3220
|
-
|
|
3221
|
-
|
|
3222
|
-
|
|
3223
|
-
return true
|
|
4120
|
+
if other.class == RVec4
|
|
4121
|
+
if (x-other.x).abs<=Float::EPSILON &&
|
|
4122
|
+
(y-other.y).abs<=Float::EPSILON &&
|
|
4123
|
+
(z-other.z).abs<=Float::EPSILON &&
|
|
4124
|
+
(w-other.w).abs<=Float::EPSILON
|
|
4125
|
+
return true
|
|
4126
|
+
else
|
|
4127
|
+
return false
|
|
4128
|
+
end
|
|
3224
4129
|
else
|
|
3225
4130
|
return false
|
|
3226
4131
|
end
|
|
@@ -3270,7 +4175,7 @@ module RMath3D
|
|
|
3270
4175
|
# vec1 *= vec2
|
|
3271
4176
|
#
|
|
3272
4177
|
def mul!( other )
|
|
3273
|
-
if other.class
|
|
4178
|
+
if !(other.class == Float || other.class == Integer)
|
|
3274
4179
|
raise TypeError, "RVec4#mul! : Unknown type #{other.class}."
|
|
3275
4180
|
return nil
|
|
3276
4181
|
end
|
|
@@ -3288,7 +4193,7 @@ end
|
|
|
3288
4193
|
|
|
3289
4194
|
=begin
|
|
3290
4195
|
RMath : Ruby math module for 3D Applications
|
|
3291
|
-
Copyright (c) 2008- vaiorabbit <http://twitter.com/vaiorabbit>
|
|
4196
|
+
Copyright (c) 2008-2020 vaiorabbit <http://twitter.com/vaiorabbit>
|
|
3292
4197
|
|
|
3293
4198
|
This software is provided 'as-is', without any express or implied
|
|
3294
4199
|
warranty. In no event will the authors be held liable for any damages
|