Merge branch 'master' of git://factorcode.org/git/factor
Doug Coleman
commit
577db11c45
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@ -4,17 +4,17 @@ IN: math.quaternions
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HELP: q+
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{ $values { "u" "a quaternion" } { "v" "a quaternion" } { "u+v" "a quaternion" } }
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{ $description "Add quaternions." }
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{ $examples { $example "USING: math.quaternions prettyprint ;" "{ C{ 0 1 } 0 } { 0 1 } q+ ." "{ C{ 0 1 } 1 }" } } ;
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{ $examples { $example "USING: math.quaternions prettyprint ;" "{ 0 1 0 0 } { 0 0 1 0 } q+ ." "{ 0 1 1 0 }" } } ;
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HELP: q-
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{ $values { "u" "a quaternion" } { "v" "a quaternion" } { "u-v" "a quaternion" } }
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{ $description "Subtract quaternions." }
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{ $examples { $example "USING: math.quaternions prettyprint ;" "{ C{ 0 1 } 0 } { 0 1 } q- ." "{ C{ 0 1 } -1 }" } } ;
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{ $examples { $example "USING: math.quaternions prettyprint ;" "{ 0 1 0 0 } { 0 0 1 0 } q- ." "{ 0 1 -1 0 }" } } ;
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HELP: q*
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{ $values { "u" "a quaternion" } { "v" "a quaternion" } { "u*v" "a quaternion" } }
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{ $description "Multiply quaternions." }
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{ $examples { $example "USING: math.quaternions prettyprint ;" "{ C{ 0 1 } 0 } { 0 1 } q* ." "{ 0 C{ 0 1 } }" } } ;
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{ $examples { $example "USING: math.quaternions prettyprint ;" "{ 0 1 0 0 } { 0 0 1 0 } q* ." "{ 0 0 0 1 }" } } ;
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HELP: qconjugate
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{ $values { "u" "a quaternion" } { "u'" "a quaternion" } }
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@ -27,28 +27,17 @@ HELP: qrecip
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HELP: q/
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{ $values { "u" "a quaternion" } { "v" "a quaternion" } { "u/v" "a quaternion" } }
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{ $description "Divide quaternions." }
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{ $examples { $example "USING: math.quaternions prettyprint ;" "{ 0 C{ 0 1 } } { 0 1 } q/ ." "{ C{ 0 1 } 0 }" } } ;
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{ $examples { $example "USING: math.quaternions prettyprint ;" "{ 0 0 0 1 } { 0 0 1 0 } q/ ." "{ 0 1 0 0 }" } } ;
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HELP: q*n
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{ $values { "q" "a quaternion" } { "n" number } { "q" "a quaternion" } }
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{ $description "Multiplies each element of " { $snippet "q" } " by " { $snippet "n" } "." }
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{ $notes "You will get the wrong result if you try to multiply a quaternion by a complex number on the right using " { $link v*n } ". Use this word instead."
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$nl "Note that " { $link v*n } " with a quaternion and a real is okay." } ;
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{ $values { "q" "a quaternion" } { "n" real } { "q" "a quaternion" } }
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{ $description "Multiplies each element of " { $snippet "q" } " by real value " { $snippet "n" } "." }
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{ $notes "To multiply a quaternion with a complex value, use " { $link c>q } " " { $link q* } "." } ;
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HELP: c>q
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{ $values { "c" number } { "q" "a quaternion" } }
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{ $description "Turn a complex number into a quaternion." }
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{ $examples { $example "USING: math.quaternions prettyprint ;" "C{ 0 1 } c>q ." "{ C{ 0 1 } 0 }" } } ;
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HELP: v>q
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{ $values { "v" vector } { "q" "a quaternion" } }
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{ $description "Turn a 3-vector into a quaternion with real part 0." }
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{ $examples { $example "USING: math.quaternions prettyprint ;" "{ 1 0 0 } v>q ." "{ C{ 0 1 } 0 }" } } ;
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HELP: q>v
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{ $values { "q" "a quaternion" } { "v" vector } }
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{ $description "Get the vector part of a quaternion, discarding the real part." }
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{ $examples { $example "USING: math.quaternions prettyprint ;" "{ C{ 0 1 } 0 } q>v ." "{ 1 0 0 }" } } ;
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{ $examples { $example "USING: math.quaternions prettyprint ;" "C{ 0 1 } c>q ." "{ 0 1 0 0 }" } } ;
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HELP: euler
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{ $values { "phi" number } { "theta" number } { "psi" number } { "q" "a quaternion" } }
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@ -2,6 +2,12 @@ IN: math.quaternions.tests
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USING: tools.test math.quaternions kernel math.vectors
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math.constants ;
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CONSTANT: q0 { 0 0 0 0 }
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CONSTANT: q1 { 1 0 0 0 }
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CONSTANT: qi { 0 1 0 0 }
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CONSTANT: qj { 0 0 1 0 }
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CONSTANT: qk { 0 0 0 1 }
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[ 1.0 ] [ qi norm ] unit-test
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[ 1.0 ] [ qj norm ] unit-test
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[ 1.0 ] [ qk norm ] unit-test
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@ -10,18 +16,13 @@ math.constants ;
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[ t ] [ qi qj q* qk = ] unit-test
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[ t ] [ qj qk q* qi = ] unit-test
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[ t ] [ qk qi q* qj = ] unit-test
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[ t ] [ qi qi q* q1 v+ q0 = ] unit-test
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[ t ] [ qj qj q* q1 v+ q0 = ] unit-test
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[ t ] [ qk qk q* q1 v+ q0 = ] unit-test
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[ t ] [ qi qj qk q* q* q1 v+ q0 = ] unit-test
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[ t ] [ C{ 0 1 } qj n*v qk = ] unit-test
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[ t ] [ qj C{ 0 1 } q*n qk v+ q0 = ] unit-test
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[ t ] [ qi qi q* q1 q+ q0 = ] unit-test
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[ t ] [ qj qj q* q1 q+ q0 = ] unit-test
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[ t ] [ qk qk q* q1 q+ q0 = ] unit-test
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[ t ] [ qi qj qk q* q* q1 q+ q0 = ] unit-test
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[ t ] [ qk qj q/ qi = ] unit-test
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[ t ] [ qi qk q/ qj = ] unit-test
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[ t ] [ qj qi q/ qk = ] unit-test
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[ t ] [ qi q>v v>q qi = ] unit-test
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[ t ] [ qj q>v v>q qj = ] unit-test
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[ t ] [ qk q>v v>q qk = ] unit-test
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[ t ] [ 1 c>q q1 = ] unit-test
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[ t ] [ C{ 0 1 } c>q qi = ] unit-test
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[ t ] [ qi qi q+ qi 2 q*n = ] unit-test
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@ -1,72 +1,69 @@
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! Copyright (C) 2005, 2007 Slava Pestov.
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! See http://factorcode.org/license.txt for BSD license.
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USING: arrays kernel math math.functions math.vectors sequences ;
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USING: arrays combinators kernel math math.functions math.libm math.vectors sequences ;
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IN: math.quaternions
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! Everybody's favorite non-commutative skew field, the quaternions!
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: q+ ( u v -- u+v )
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v+ ; inline
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! Quaternions are represented as pairs of complex numbers, using the
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! identity: (a+bi)+(c+di)j = a+bi+cj+dk.
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: q- ( u v -- u-v )
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v- ; inline
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<PRIVATE
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: ** ( x y -- z ) conjugate * ; inline
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: 2q ( u v -- u' u'' v' v'' ) [ first2 ] bi@ ; inline
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: q*a ( u v -- a ) 2q swapd ** [ * ] dip - ; inline
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: q*b ( u v -- b ) 2q [ ** swap ] dip * + ; inline
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GENERIC: (q*sign) ( q -- q' )
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M: object (q*sign) { -1 1 1 1 } v* ; inline
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PRIVATE>
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: q+ ( u v -- u+v )
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v+ ;
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: q- ( u v -- u-v )
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v- ;
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: q* ( u v -- u*v )
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[ q*a ] [ q*b ] 2bi 2array ;
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{
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[ [ { 1 0 0 0 } vshuffle ] [ { 1 1 2 3 } vshuffle ] bi* v* ]
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[ [ { 2 1 2 3 } vshuffle ] [ { 2 0 0 0 } vshuffle ] bi* v* v+ ]
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[ [ { 3 2 3 1 } vshuffle ] [ { 3 3 1 2 } vshuffle ] bi* v* v+ ]
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[ [ { 0 3 1 2 } vshuffle ] [ { 0 2 3 1 } vshuffle ] bi* v* v- ]
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} 2cleave (q*sign) ; inline
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: qconjugate ( u -- u' )
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first2 [ conjugate ] [ neg ] bi* 2array ;
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GENERIC: qconjugate ( u -- u' )
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M: object qconjugate ( u -- u' )
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{ 1 -1 -1 -1 } v* ; inline
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: qrecip ( u -- 1/u )
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qconjugate dup norm-sq v/n ;
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qconjugate dup norm-sq v/n ; inline
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: q/ ( u v -- u/v )
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qrecip q* ;
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qrecip q* ; inline
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: n*q ( q n -- q )
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v*n ; inline
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: q*n ( q n -- q )
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conjugate v*n ;
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v*n ; inline
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: n>q ( n -- q )
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0 0 0 4array ; inline
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: n>q-like ( c exemplar -- q )
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[ 0 0 0 ] dip 4sequence ; inline
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: c>q ( c -- q )
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0 2array ;
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>rect 0 0 4array ; inline
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: v>q ( v -- q )
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first3 rect> [ 0 swap rect> ] dip 2array ;
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: q>v ( q -- v )
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first2 [ imaginary-part ] dip >rect 3array ;
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! Zero
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CONSTANT: q0 { 0 0 }
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! Units
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CONSTANT: q1 { 1 0 }
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CONSTANT: qi { C{ 0 1 } 0 }
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CONSTANT: qj { 0 1 }
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CONSTANT: qk { 0 C{ 0 1 } }
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: c>q-like ( c exemplar -- q )
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[ >rect 0 0 ] dip 4sequence ; inline
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! Euler angles
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<PRIVATE
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: (euler) ( theta unit -- q )
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[ -0.5 * [ cos c>q ] [ sin ] bi ] dip n*v v- ;
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: (euler) ( theta exemplar shuffle -- q )
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swap
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[ 0.5 * [ fcos ] [ fsin ] bi 0.0 0.0 ] [ call ] [ 4sequence ] tri* ; inline
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PRIVATE>
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: euler-like ( phi theta psi exemplar -- q )
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[ [ ] (euler) ] [ [ swapd ] (euler) ] [ [ rot ] (euler) ] tri-curry tri* q* q* ; inline
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: euler ( phi theta psi -- q )
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[ qi (euler) ] [ qj (euler) ] [ qk (euler) ] tri* q* q* ;
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{ } euler-like ; inline
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|
|
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|
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@ -106,18 +106,12 @@ IN: tools.deploy.shaker
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: strip-word-props ( stripped-props words -- )
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"Stripping word properties" show
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[
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swap '[
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[
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[ drop _ member? not ] assoc-filter sift-assoc
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>alist f like
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] change-props drop
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] each
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] [
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H{ } clone '[
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[ [ _ [ ] cache ] map ] change-props drop
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] each
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] bi ;
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swap '[
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[
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[ drop _ member? not ] assoc-filter sift-assoc
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>alist f like
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] change-props drop
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] each ;
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|
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: stripped-word-props ( -- seq )
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[
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|
|
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|
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@ -242,8 +242,6 @@ M: code-blocks nth-unsafe
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[ cache>> ] [ blocks>> ] bi
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'[ _ nth-unsafe <code-block> ] cache ; inline
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|
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M: code-blocks hashcode* 2drop 0 ;
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|
||||
INSTANCE: code-blocks immutable-sequence
|
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|
||||
: code-blocks ( -- blocks )
|
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|
|
|
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|
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@ -706,14 +706,6 @@ ERROR: derived-error < base-error z ;
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|
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[ (( x y z -- * )) ] [ \ derived-error stack-effect ] unit-test
|
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|
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USE: classes.struct
|
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|
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[ { } ] [
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||||
classes
|
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[ "prototype" word-prop ] map
|
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[ '[ _ hashcode drop f ] [ drop t ] recover ] filter
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] unit-test
|
||||
|
||||
! Make sure that tuple reshaping updates code heap roots
|
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TUPLE: code-heap-ref ;
|
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|
||||
|
|
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|
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@ -238,3 +238,42 @@ IN: math.matrices.simd.tests
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float-4{ 0.5 0.5 0.5 1.0 } scale-matrix4 m4.
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float-4{ 2.0 3.0 4.0 1.0 } m4.v
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] unit-test
|
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|
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[
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S{ matrix4 f
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float-4-array{
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float-4{ 1.0 0.0 0.0 0.0 }
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float-4{ 0.0 1.0 0.0 0.0 }
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float-4{ 0.0 0.0 1.0 0.0 }
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float-4{ 0.0 0.0 0.0 1.0 }
|
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}
|
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}
|
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] [
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float-4{ 1.0 0.0 0.0 0.0 } q>matrix4
|
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] unit-test
|
||||
|
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[ t ] [
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pi 0.5 * 0.0 0.0 euler4 q>matrix4
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S{ matrix4 f
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float-4-array{
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float-4{ 1.0 0.0 0.0 0.0 }
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float-4{ 0.0 0.0 1.0 0.0 }
|
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float-4{ 0.0 -1.0 0.0 0.0 }
|
||||
float-4{ 0.0 0.0 0.0 1.0 }
|
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}
|
||||
}
|
||||
1.0e-7 m~
|
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] unit-test
|
||||
|
||||
[ t ] [
|
||||
0.0 pi 0.25 * 0.0 euler4 q>matrix4
|
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S{ matrix4 f
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float-4-array{
|
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float-4{ $[ 1/2. sqrt ] 0.0 $[ 1/2. sqrt neg ] 0.0 }
|
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float-4{ 0.0 1.0 0.0 0.0 }
|
||||
float-4{ $[ 1/2. sqrt ] 0.0 $[ 1/2. sqrt ] 0.0 }
|
||||
float-4{ 0.0 0.0 0.0 1.0 }
|
||||
}
|
||||
}
|
||||
1.0e-7 m~
|
||||
] unit-test
|
||||
|
|
|
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|
|
@ -1,8 +1,10 @@
|
|||
! (c)Joe Groff bsd license
|
||||
USING: accessors classes.struct fry generalizations kernel locals
|
||||
math math.combinatorics math.functions math.matrices.simd math.vectors
|
||||
math.vectors.simd sequences sequences.private specialized-arrays
|
||||
math.vectors.simd math.quaternions sequences sequences.private specialized-arrays
|
||||
typed ;
|
||||
FROM: sequences.private => nth-unsafe ;
|
||||
FROM: math.quaternions.private => (q*sign) ;
|
||||
QUALIFIED-WITH: alien.c-types c
|
||||
SPECIALIZED-ARRAY: float-4
|
||||
IN: math.matrices.simd
|
||||
|
|
@ -23,10 +25,7 @@ M: matrix4 new-sequence 2drop matrix4 (struct) ; inline
|
|||
|
||||
:: set-columns ( c1 c2 c3 c4 c -- c )
|
||||
c columns>> :> columns
|
||||
c1 columns set-first
|
||||
c2 columns set-second
|
||||
c3 columns set-third
|
||||
c4 columns set-fourth
|
||||
c1 c2 c3 c4 columns 4 set-firstn-unsafe
|
||||
c ; inline
|
||||
|
||||
: make-matrix4 ( quot: ( -- c1 c2 c3 c4 ) -- c )
|
||||
|
|
@ -151,12 +150,24 @@ TYPED: translation-matrix4 ( offset: float-4 -- matrix: matrix4 )
|
|||
] dip
|
||||
] make-matrix4 ;
|
||||
|
||||
:: (rotation-matrix4) ( diagonal triangle-hi triangle-lo -- matrix )
|
||||
matrix4 (struct) :> triangle-m
|
||||
diagonal scale-matrix4 :> diagonal-m
|
||||
|
||||
triangle-hi { 3 2 1 3 } vshuffle
|
||||
triangle-hi { 3 3 0 3 } vshuffle triangle-lo { 2 3 3 3 } vshuffle vbitor
|
||||
triangle-lo { 1 0 3 3 } vshuffle
|
||||
float-4 new
|
||||
|
||||
triangle-m set-columns drop
|
||||
|
||||
diagonal-m triangle-m m4+ ; inline
|
||||
|
||||
TYPED:: rotation-matrix4 ( axis: float-4 theta: float -- matrix: matrix4 )
|
||||
! x*x + c*(1.0 - x*x) x*y*(1.0 - c) + s*z x*z*(1.0 - c) - s*y 0
|
||||
! x*y*(1.0 - c) - s*z y*y + c*(1.0 - y*y) y*z*(1.0 - c) + s*x 0
|
||||
! x*z*(1.0 - c) + s*y y*z*(1.0 - c) - s*x z*z + c*(1.0 - z*z) 0
|
||||
! 0 0 0 1
|
||||
matrix4 (struct) :> triangle-m
|
||||
theta cos :> c
|
||||
theta sin :> s
|
||||
|
||||
|
|
@ -176,17 +187,8 @@ TYPED:: rotation-matrix4 ( axis: float-4 theta: float -- matrix: matrix4 )
|
|||
triangle-a triangle-b v+ :> triangle-lo
|
||||
triangle-a triangle-b v- :> triangle-hi
|
||||
|
||||
diagonal scale-matrix4 :> diagonal-m
|
||||
|
||||
triangle-hi { 3 2 1 3 } vshuffle
|
||||
triangle-hi { 3 3 0 3 } vshuffle triangle-lo { 2 3 3 3 } vshuffle v+
|
||||
triangle-lo { 1 0 3 3 } vshuffle
|
||||
float-4 new
|
||||
|
||||
triangle-m set-columns drop
|
||||
|
||||
diagonal-m triangle-m m4+ ;
|
||||
|
||||
diagonal triangle-hi triangle-lo (rotation-matrix4) ;
|
||||
|
||||
TYPED:: frustum-matrix4 ( xy: float-4 near: float far: float -- matrix: matrix4 )
|
||||
[
|
||||
near near near far + 2 near far * * float-4-boa ! num
|
||||
|
|
@ -200,3 +202,30 @@ TYPED:: frustum-matrix4 ( xy: float-4 near: float far: float -- matrix: matrix4
|
|||
[ negone (vmerge) ] bi*
|
||||
] make-matrix4 ;
|
||||
|
||||
! interface with quaternions
|
||||
M: float-4 (q*sign)
|
||||
float-4{ -0.0 0.0 0.0 0.0 } vbitxor ; inline
|
||||
M: float-4 qconjugate
|
||||
float-4{ 0.0 -0.0 -0.0 -0.0 } vbitxor ; inline
|
||||
|
||||
: euler4 ( phi theta psi -- q )
|
||||
float-4{ 0 0 0 0 } euler-like ; inline
|
||||
|
||||
TYPED:: q>matrix4 ( q: float-4 -- matrix: matrix4 )
|
||||
! a*a + b*b - c*c - d*d 2*b*c - 2*a*d 2*b*d + 2*a*c 0
|
||||
! 2*b*c + 2*a*d a*a - b*b + c*c - d*d 2*c*d - 2*a*b 0
|
||||
! 2*b*d - 2*a*c 2*c*d + 2*a*b a*a - b*b - c*c + d*d 0
|
||||
! 0 0 0 1
|
||||
q { 2 1 1 3 } vshuffle q { 3 3 2 3 } vshuffle v* :> triangle-a
|
||||
q { 0 0 0 3 } vshuffle q { 1 2 3 3 } vshuffle v* :> triangle-b
|
||||
|
||||
triangle-a float-4{ 2.0 2.0 2.0 0.0 } v* triangle-b float-4{ -2.0 2.0 -2.0 0.0 } v*
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[ v- ] [ v+ ] 2bi :> ( triangle-hi triangle-lo )
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|
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q q v* first4 {
|
||||
[ [ + ] [ - ] [ - ] tri* ]
|
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[ [ - ] [ + ] [ - ] tri* ]
|
||||
[ [ - ] [ - ] [ + ] tri* ]
|
||||
} 4 ncleave 1.0 float-4-boa :> diagonal
|
||||
|
||||
diagonal triangle-hi triangle-lo (rotation-matrix4) ;
|
||||
|
|
|
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Loading…
Reference in New Issue