ruby_rpg 0.0.4 → 0.0.5

data/lib/engine/quaternion.rb

@@ -1,234 +1,234 @@
-# frozen_string_literal: true
-
-module Engine
-  class Quaternion
-    EULER_ORDER = "XYZ"
-    attr_accessor :w, :x, :y, :z, :euler_order
-
-    def initialize(w, x, y, z)
-      @w = w
-      @x = x
-      @y = y
-      @z = z
-    end
-
-    def to_s
-      "Quaternion(w: #{@w}, x: #{@x}, y: #{@y}, z: #{@z})"
-    end
-
-    def ==(other)
-      return false unless other.is_a?(Quaternion)
-
-      @w == other.w && @x == other.x && @y == other.y && @z == other.z
-    end
-
-    def *(other)
-      Quaternion.new(
-        @w * other.w - @x * other.x - @y * other.y - @z * other.z,
-        @w * other.x + @x * other.w + @y * other.z - @z * other.y,
-        @w * other.y - @x * other.z + @y * other.w + @z * other.x,
-        @w * other.z + @x * other.y - @y * other.x + @z * other.w
-      )
-    end
-
-    # taken from https://github.com/mrdoob/three.js/blob/134ff886792734a75c0a9b30aa816d19270f8526/src/math/Quaternion.js#L229
-    def self.from_euler(euler)
-      e_1 = euler[0] * Math::PI / 180
-      e_2 = euler[1] * Math::PI / 180
-      e_3 = euler[2] * Math::PI / 180
-
-      c_1 = Math.cos(e_1 / 2)
-      c_2 = Math.cos(e_2 / 2)
-      c_3 = Math.cos(e_3 / 2)
-
-      s_1 = Math.sin(e_1 / 2)
-      s_2 = Math.sin(e_2 / 2)
-      s_3 = Math.sin(e_3 / 2)
-
-      case EULER_ORDER
-      when "XYZ"
-        Quaternion.new(
-          c_1 * c_2 * c_3 - s_1 * s_2 * s_3,
-          s_1 * c_2 * c_3 + c_1 * s_2 * s_3,
-          c_1 * s_2 * c_3 - s_1 * c_2 * s_3,
-          c_1 * c_2 * s_3 + s_1 * s_2 * c_3
-        )
-      when "YXZ"
-        Quaternion.new(
-          c_1 * c_2 * c_3 + s_1 * s_2 * s_3,
-          s_1 * c_2 * c_3 + c_1 * s_2 * s_3,
-          c_1 * s_2 * c_3 - s_1 * c_2 * s_3,
-          c_1 * c_2 * s_3 - s_1 * s_2 * c_3
-        )
-      when "ZXY"
-        Quaternion.new(
-          c_1 * c_2 * c_3 - s_1 * s_2 * s_3,
-          s_1 * c_2 * c_3 - c_1 * s_2 * s_3,
-          c_1 * s_2 * c_3 + s_1 * c_2 * s_3,
-          c_1 * c_2 * s_3 + s_1 * s_2 * c_3
-        )
-      when "ZYX"
-        Quaternion.new(
-          c_1 * c_2 * c_3 + s_1 * s_2 * s_3,
-          s_1 * c_2 * c_3 - c_1 * s_2 * s_3,
-          c_1 * s_2 * c_3 + s_1 * c_2 * s_3,
-          c_1 * c_2 * s_3 - s_1 * s_2 * c_3
-        )
-      when "YZX"
-        Quaternion.new(
-          s_1 * c_2 * c_3 + c_1 * s_2 * s_3,
-          c_1 * s_2 * c_3 + s_1 * c_2 * s_3,
-          c_1 * c_2 * s_3 - s_1 * s_2 * c_3,
-          c_1 * c_2 * c_3 - s_1 * s_2 * s_3
-        )
-      when "XZY"
-        Quaternion.new(
-          c_1 * c_2 * c_3 + s_1 * s_2 * s_3,
-          s_1 * c_2 * c_3 - c_1 * s_2 * s_3,
-          c_1 * s_2 * c_3 - s_1 * c_2 * s_3,
-          c_1 * c_2 * s_3 + s_1 * s_2 * c_3
-        )
-      end
-    end
-
-    # taken from https://github.com/mrdoob/three.js/blob/134ff886792734a75c0a9b30aa816d19270f8526/src/math/Euler.js#L134
-    def to_euler
-      m11 = te[0]
-      m12 = te[4]
-      m13 = te[8]
-      m21 = te[1]
-      m22 = te[5]
-      m23 = te[9]
-      m31 = te[2]
-      m32 = te[6]
-      m33 = te[10]
-
-      case EULER_ORDER
-      when "XYZ"
-        e_y = Math.asin(m13.clamp(-1, 1))
-
-        if m13.abs < 0.9999999
-          e_x = Math.atan2(-m23, m33)
-          e_z = Math.atan2(-m12, m11)
-        else
-          e_x = Math.atan2(m32, m22)
-          e_z = 0
-        end
-      when "YXZ"
-        e_x = Math.asin(-m23.clamp(-1, 1))
-
-        if m23.abs < 0.9999999
-          e_y = Math.atan2(m13, m33)
-          e_z = Math.atan2(m21, m22)
-        else
-          e_y = Math.atan2(-m31, m11)
-          e_z = 0
-        end
-      when "ZXY"
-        e_x = Math.asin(m32.clamp(-1, 1))
-
-        if m32.abs < 0.9999999
-          e_y = Math.atan2(-m31, m33)
-          e_z = Math.atan2(-m12, m22)
-        else
-          e_y = 0
-          e_z = Math.atan2(m21, m11)
-        end
-      when "ZYX"
-        e_y = Math.asin(-m31.clamp(-1, 1))
-
-        if m31.abs < 0.9999999
-          e_x = Math.atan2(m32, m33)
-          e_z = Math.atan2(m21, m11)
-        else
-          e_x = 0
-          e_z = Math.atan2(-m12, m22)
-        end
-      when "YZX"
-        e_z = Math.asin(m21.clamp(-1, 1))
-
-        if m21.abs < 0.9999999
-          e_x = Math.atan2(-m23, m22)
-          e_y = Math.atan2(-m31, m11)
-        else
-          e_x = 0
-          e_y = Math.atan2(m13, m33)
-        end
-      when "XZY"
-        e_z = Math.asin(-m12.clamp(-1, 1))
-
-        if m12.abs < 0.9999999
-          e_x = Math.atan2(m32, m22)
-          e_y = Math.atan2(m13, m11)
-        else
-          e_x = Math.atan2(-m23, m33)
-          e_y = 0
-        end
-      end
-
-      Vector[e_x, e_y, e_z] * 180 / Math::PI
-    end
-
-    def te
-      x2 = x + x
-      y2 = y + y
-      z2 = z + z
-
-      xx = x * x2
-      xy = x * y2
-      xz = x * z2
-      yy = y * y2
-      yz = y * z2
-      zz = z * z2
-      wx = w * x2
-      wy = w * y2
-      wz = w * z2
-
-      [
-        1 - (yy + zz),
-        xy + wz,
-        xz - wy,
-        0,
-
-        xy - wz,
-        1 - (xx + zz),
-        yz + wx,
-        0,
-
-        xz + wy,
-        yz - wx,
-        1 - (xx + yy),
-        0,
-
-        0,
-        0,
-        0,
-        1,
-      ]
-    end
-
-    def self.from_angle_axis(angle, axis)
-      axis = axis.normalize
-      angle = angle * Math::PI / 180
-
-      half_angle = angle / 2
-      sin_half_angle = Math.sin(half_angle)
-      cos_half_angle = Math.cos(half_angle)
-
-      Quaternion.new(
-        cos_half_angle,
-        axis[0] * sin_half_angle,
-        axis[1] * sin_half_angle,
-        axis[2] * sin_half_angle
-      )
-    end
-
-    def to_angle_axis
-      angle = 2 * Math.acos(@w)
-      s = Math.sqrt(1 - @w * @w)
-      s = 1 if s < 0.0001
-      axis = Vector[@x / s, @y / s, @z / s]
-      [angle * 180 / Math::PI, axis]
-    end
-  end
-end
+# frozen_string_literal: true
+
+module Engine
+  class Quaternion
+    EULER_ORDER = "XYZ"
+    attr_accessor :w, :x, :y, :z, :euler_order
+
+    def initialize(w, x, y, z)
+      @w = w
+      @x = x
+      @y = y
+      @z = z
+    end
+
+    def to_s
+      "Quaternion(w: #{@w}, x: #{@x}, y: #{@y}, z: #{@z})"
+    end
+
+    def ==(other)
+      return false unless other.is_a?(Quaternion)
+
+      @w == other.w && @x == other.x && @y == other.y && @z == other.z
+    end
+
+    def *(other)
+      Quaternion.new(
+        @w * other.w - @x * other.x - @y * other.y - @z * other.z,
+        @w * other.x + @x * other.w + @y * other.z - @z * other.y,
+        @w * other.y - @x * other.z + @y * other.w + @z * other.x,
+        @w * other.z + @x * other.y - @y * other.x + @z * other.w
+      )
+    end
+
+    # taken from https://github.com/mrdoob/three.js/blob/134ff886792734a75c0a9b30aa816d19270f8526/src/math/Quaternion.js#L229
+    def self.from_euler(euler)
+      e_1 = euler[0] * Math::PI / 180
+      e_2 = euler[1] * Math::PI / 180
+      e_3 = euler[2] * Math::PI / 180
+
+      c_1 = Math.cos(e_1 / 2)
+      c_2 = Math.cos(e_2 / 2)
+      c_3 = Math.cos(e_3 / 2)
+
+      s_1 = Math.sin(e_1 / 2)
+      s_2 = Math.sin(e_2 / 2)
+      s_3 = Math.sin(e_3 / 2)
+
+      case EULER_ORDER
+      when "XYZ"
+        Quaternion.new(
+          c_1 * c_2 * c_3 - s_1 * s_2 * s_3,
+          s_1 * c_2 * c_3 + c_1 * s_2 * s_3,
+          c_1 * s_2 * c_3 - s_1 * c_2 * s_3,
+          c_1 * c_2 * s_3 + s_1 * s_2 * c_3
+        )
+      when "YXZ"
+        Quaternion.new(
+          c_1 * c_2 * c_3 + s_1 * s_2 * s_3,
+          s_1 * c_2 * c_3 + c_1 * s_2 * s_3,
+          c_1 * s_2 * c_3 - s_1 * c_2 * s_3,
+          c_1 * c_2 * s_3 - s_1 * s_2 * c_3
+        )
+      when "ZXY"
+        Quaternion.new(
+          c_1 * c_2 * c_3 - s_1 * s_2 * s_3,
+          s_1 * c_2 * c_3 - c_1 * s_2 * s_3,
+          c_1 * s_2 * c_3 + s_1 * c_2 * s_3,
+          c_1 * c_2 * s_3 + s_1 * s_2 * c_3
+        )
+      when "ZYX"
+        Quaternion.new(
+          c_1 * c_2 * c_3 + s_1 * s_2 * s_3,
+          s_1 * c_2 * c_3 - c_1 * s_2 * s_3,
+          c_1 * s_2 * c_3 + s_1 * c_2 * s_3,
+          c_1 * c_2 * s_3 - s_1 * s_2 * c_3
+        )
+      when "YZX"
+        Quaternion.new(
+          s_1 * c_2 * c_3 + c_1 * s_2 * s_3,
+          c_1 * s_2 * c_3 + s_1 * c_2 * s_3,
+          c_1 * c_2 * s_3 - s_1 * s_2 * c_3,
+          c_1 * c_2 * c_3 - s_1 * s_2 * s_3
+        )
+      when "XZY"
+        Quaternion.new(
+          c_1 * c_2 * c_3 + s_1 * s_2 * s_3,
+          s_1 * c_2 * c_3 - c_1 * s_2 * s_3,
+          c_1 * s_2 * c_3 - s_1 * c_2 * s_3,
+          c_1 * c_2 * s_3 + s_1 * s_2 * c_3
+        )
+      end
+    end
+
+    # taken from https://github.com/mrdoob/three.js/blob/134ff886792734a75c0a9b30aa816d19270f8526/src/math/Euler.js#L134
+    def to_euler
+      m11 = te[0]
+      m12 = te[4]
+      m13 = te[8]
+      m21 = te[1]
+      m22 = te[5]
+      m23 = te[9]
+      m31 = te[2]
+      m32 = te[6]
+      m33 = te[10]
+
+      case EULER_ORDER
+      when "XYZ"
+        e_y = Math.asin(m13.clamp(-1, 1))
+
+        if m13.abs < 0.9999999
+          e_x = Math.atan2(-m23, m33)
+          e_z = Math.atan2(-m12, m11)
+        else
+          e_x = Math.atan2(m32, m22)
+          e_z = 0
+        end
+      when "YXZ"
+        e_x = Math.asin(-m23.clamp(-1, 1))
+
+        if m23.abs < 0.9999999
+          e_y = Math.atan2(m13, m33)
+          e_z = Math.atan2(m21, m22)
+        else
+          e_y = Math.atan2(-m31, m11)
+          e_z = 0
+        end
+      when "ZXY"
+        e_x = Math.asin(m32.clamp(-1, 1))
+
+        if m32.abs < 0.9999999
+          e_y = Math.atan2(-m31, m33)
+          e_z = Math.atan2(-m12, m22)
+        else
+          e_y = 0
+          e_z = Math.atan2(m21, m11)
+        end
+      when "ZYX"
+        e_y = Math.asin(-m31.clamp(-1, 1))
+
+        if m31.abs < 0.9999999
+          e_x = Math.atan2(m32, m33)
+          e_z = Math.atan2(m21, m11)
+        else
+          e_x = 0
+          e_z = Math.atan2(-m12, m22)
+        end
+      when "YZX"
+        e_z = Math.asin(m21.clamp(-1, 1))
+
+        if m21.abs < 0.9999999
+          e_x = Math.atan2(-m23, m22)
+          e_y = Math.atan2(-m31, m11)
+        else
+          e_x = 0
+          e_y = Math.atan2(m13, m33)
+        end
+      when "XZY"
+        e_z = Math.asin(-m12.clamp(-1, 1))
+
+        if m12.abs < 0.9999999
+          e_x = Math.atan2(m32, m22)
+          e_y = Math.atan2(m13, m11)
+        else
+          e_x = Math.atan2(-m23, m33)
+          e_y = 0
+        end
+      end
+
+      Vector[e_x, e_y, e_z] * 180 / Math::PI
+    end
+
+    def te
+      x2 = x + x
+      y2 = y + y
+      z2 = z + z
+
+      xx = x * x2
+      xy = x * y2
+      xz = x * z2
+      yy = y * y2
+      yz = y * z2
+      zz = z * z2
+      wx = w * x2
+      wy = w * y2
+      wz = w * z2
+
+      [
+        1 - (yy + zz),
+        xy + wz,
+        xz - wy,
+        0,
+
+        xy - wz,
+        1 - (xx + zz),
+        yz + wx,
+        0,
+
+        xz + wy,
+        yz - wx,
+        1 - (xx + yy),
+        0,
+
+        0,
+        0,
+        0,
+        1,
+      ]
+    end
+
+    def self.from_angle_axis(angle, axis)
+      axis = axis.normalize
+      angle = angle * Math::PI / 180
+
+      half_angle = angle / 2
+      sin_half_angle = Math.sin(half_angle)
+      cos_half_angle = Math.cos(half_angle)
+
+      Quaternion.new(
+        cos_half_angle,
+        axis[0] * sin_half_angle,
+        axis[1] * sin_half_angle,
+        axis[2] * sin_half_angle
+      )
+    end
+
+    def to_angle_axis
+      angle = 2 * Math.acos(@w)
+      s = Math.sqrt(1 - @w * @w)
+      s = 1 if s < 0.0001
+      axis = Vector[@x / s, @y / s, @z / s]
+      [angle * 180 / Math::PI, axis]
+    end
+  end
+end