### Home Classes Methods

### In Files

- lib/rabbit/trackball.rb

### Parent

Array

### Methods

- #axis_to_quat
- #build_rotmatrix
- #collect
- #normalize_quat
- #vadd
- #vcross
- #vdot
- #vlength
- #vnormal
- #vscale
- #vsub

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No matching classes.

# Rabbit::TrackBall::Vector

### Public Instance Methods

axis_to_quat(phi) click to toggle source

Given an axis and angle, compute quaternion.

    # File lib/rabbit/trackball.rb, line 136
    def axis_to_quat(phi)
      b, c, d = self.vnormal.vscale(Math.sin(phi/2.0))
      Vector.new([b, c, d, Math.cos(phi/2.0)])
    end

build_rotmatrix() click to toggle source

Build a rotation matrix, given a quaternion rotation.

    # File lib/rabbit/trackball.rb, line 120
    def build_rotmatrix
      m = []
      m << [1.0 - 2.0 * (self[1] * self[1] + self[2] * self[2]),
            2.0 * (self[0] * self[1] - self[2] * self[3]),
            2.0 * (self[2] * self[0] + self[1] * self[3]), 0.0]
      m << [2.0 * (self[0] * self[1] + self[2] * self[3]),
            1.0 - 2.0 * (self[2] * self[2] + self[0] * self[0]),
            2.0 * (self[1] * self[2] - self[0] * self[3]), 0.0]
      m << [2.0 * (self[2] * self[0] - self[1] * self[3]),
            2.0 * (self[1] * self[2] + self[0] * self[3]),
            1.0 - 2.0 * (self[1] * self[1] + self[0] * self[0]), 0.0]
      m << [0.0, 0.0, 0.0, 1.0]
      m
    end

collect(&block) click to toggle source

    # File lib/rabbit/trackball.rb, line 141
    def collect(&block)
      Vector.new(super)
    end

normalize_quat() click to toggle source

Quaternions always obey: a^2 + b^2 + c^2 + d^2 = 1.0 If they don't add up to 1.0, dividing by their magnitued will renormalize them.

Note: See the following for more information on quaternions:

- Shoemake, K., Animating rotation with quaternion curves, Computer Graphics 19, No 3 (Proc. SIGGRAPH'85), 245-254, 1985.

- Pletinckx, D., Quaternion calculus as a basic tool in computer graphics, The Visual Computer 5, 2-13, 1989.

    # File lib/rabbit/trackball.rb, line 115
    def normalize_quat
      collect{|q| q = q / inject(0){|ret, i| ret + i ** 2}}
    end

vadd(other, range = nil) click to toggle source

    # File lib/rabbit/trackball.rb, line 98
    def vadd(other, range = nil)
      range = [size, other.size].min unless range
      (0...range).inject(Vector.new){|ret, i| ret << self[i] + other[i]}
    end

vcross(other) click to toggle source

    # File lib/rabbit/trackball.rb, line 79
    def vcross(other)
      dst = Vector.new
      dst << (self[1] * other[2]) - (self[2] * other[1])
      dst << (self[2] * other[0]) - (self[0] * other[2])
      dst << (self[0] * other[1]) - (self[1] * other[0])
    end

vdot(other, range = nil) click to toggle source

    # File lib/rabbit/trackball.rb, line 93
    def vdot(other, range = nil)
      range = [size, other.size].min unless range
      (0...range).inject(0.0){|ret, i| ret + self[i] * other[i]}
    end

vlength() click to toggle source

    # File lib/rabbit/trackball.rb, line 86
    def vlength
      Math.sqrt(inject(0){|ret, i| ret + i ** 2})
    end

vnormal() click to toggle source

    # File lib/rabbit/trackball.rb, line 91
    def vnormal; vscale(1.0 / vlength); end

vscale(div) click to toggle source

    # File lib/rabbit/trackball.rb, line 90
    def vscale(div); collect{|v| v *= div}; end

vsub(other, range = nil) click to toggle source

    # File lib/rabbit/trackball.rb, line 74
    def vsub(other, range = nil)
      range = [size, other.size].min unless range
      (0...range).inject(Vector.new){|ret, i| ret << self[i] - other[i]}
    end

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