Class: Matrix

Inherits:
Object
  • Object
show all
Defined in:
lib/ext.rb

Class Method Summary collapse

Instance Method Summary collapse

Class Method Details

.from_axis(axis, angle) ⇒ Object 



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# File 'lib/ext.rb', line 6

def self.from_axis(axis, angle)
  Util3D::check_arg_type(Vector3, axis)
  Util3D::check_arg_type(Numeric, angle)

  return Matrix[
         [axis.x*axis.x*(1 - Math.cos(angle)) +        Math.cos(angle),
                  axis.x*axis.y*(1 - Math.cos(angle)) + axis.z*Math.sin(angle),
                  axis.x*axis.z*(1 - Math.cos(angle)) - axis.y*Math.sin(angle)],
         [axis.x*axis.y*(1 - Math.cos(angle)) - axis.z*Math.sin(angle),
                  axis.y*axis.y*(1 - Math.cos(angle)) +        Math.cos(angle),
                  axis.y*axis.z*(1 - Math.cos(angle)) + axis.x*Math.sin(angle)],
         [axis.x*axis.z*(1 - Math.cos(angle)) + axis.y*Math.sin(angle),
                  axis.y*axis.z*(1 - Math.cos(angle)) - axis.x*Math.sin(angle),
                  axis.z*axis.z*(1 - Math.cos(angle)) +        Math.cos(angle)]]
end

.from_quat(quat) ⇒ Object 



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# File 'lib/ext.rb', line 22

def self.from_quat(quat)
  Util3D::check_arg_type(Quat, quat)
  qw = quat.w
  qx = quat.x
  qy = quat.y
  qz = quat.z

  x2 = 2.0 * qx * qx;
  y2 = 2.0 * qy * qy;
  z2 = 2.0 * qz * qz;
  xy = 2.0 * qx * qy;
  yz = 2.0 * qy * qz;
  zx = 2.0 * qz * qx;
  wx = 2.0 * qw * qx;
  wy = 2.0 * qw * qy;
  wz = 2.0 * qw * qz;

  return Matrix[
         [ 1.0 - y2 - z2, xy + wz, zx - wy],
         [ xy - wz, 1.0 - z2 - x2, yz + wx],
         [ zx + wy, yz - wx, 1.0 - x2 - y2]]
end

Instance Method Details

#multi_new(rhs) ⇒ Object Also known as: * 



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# File 'lib/ext.rb', line 46

def multi_new(rhs)
  if(rhs.kind_of?(Vector3))
    ans = self.multi_inner(rhs.to_column_vector)
  return Vector3.new(ans[0,0], ans[1,0], ans[2,0])
  end
  multi_inner(rhs)
end