Class: GlimR::Quaternion

Inherits:
Array show all
Defined in:
lib/glimr/renderer/transform.rb

Class Method Summary collapse

Instance Method Summary collapse

Methods inherited from Array

#-@, #add, #cross_product, #delete_first, #dot, #sub

Class Method Details

.[](w, x, y, z) ⇒ Object 



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# File 'lib/glimr/renderer/transform.rb', line 255

def self.[](w,x,y,z)
  aa = new
  aa.push(w,x,y,z)
  aa
end

Instance Method Details

#normalize ⇒ Object 



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# File 'lib/glimr/renderer/transform.rb', line 261

def normalize
  self.class[*(Vector[*self] * (1.0 / Vector[*self].r)).to_a]
end

#to_aa ⇒ Object 



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# File 'lib/glimr/renderer/transform.rb', line 275

def to_aa
  w,x,y,z = normalize
  c = w
  angle = (Math.acos(c) * 2) * (180/Math::PI)
  s = Math.sqrt( 1 - c*c )
  s = 1 if (s.abs < 0.0005)      
  AngleAxis[angle, x/s, y/s, z/s]
end

#to_matrix ⇒ Object 



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# File 'lib/glimr/renderer/transform.rb', line 265

def to_matrix
  w,x,y,z = normalize
  [
    [1-2*y*y-2*z*z,  2*x*y-2*w*z,  2*z*x+2*w*y, 0],
    [2*x*y+2*w*z,  1-2*x*x-2*z*z,  2*y*z-2*w*x, 0],
    [2*z*x-2*w*y,  2*y*z+2*w*x,  1-2*x*x-2*y*y, 0],
    [0,0,0,1]
  ].transpose.flatten
end

#to_quat ⇒ Object 



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# File 'lib/glimr/renderer/transform.rb', line 284

def to_quat
  self
end