quaternion.rb

This file contains the ODE::Quaternion (3D spinor) class. Instances of this class represent the orientation of an object in an ODE::World simulation.

From the The Matrix and Quaternions FAQ (skal.planet-d.net/demo/matrixfaq.htm):

  Quaternions extend the concept of rotation in three dimensions to
  rotation in four dimensions. This avoids the problem of "gimbal-lock"
  and allows for the implementation of smooth and continuous rotation.

  In effect, they may be considered to add a additional rotation angle
  to spherical coordinates ie. Longitude, Latitude and Rotation angles

  A Quaternion is defined using four floating point values |x y z w|.

  These are calculated from the combination of the three coordinates
  of the rotation axis and the rotation angle.

This class is based on the GLIT::Quat class from the alg3d library by Issac Trotts.

Synopsis

Authors

Based on the GLIT::Quat class from the ‘alg3d’ library by Issac Trotts. Used under the following licensing terms:

  alg3d.rb : an any-dimensional vector and 3D spinor (quaternion)

  Copyright (c) 2001, 2003 Issac Trotts <itrotts at idolminds dot com>
  Under the Ruby license

Modifications, additional code, and any mistakes by Michael Granger <ged@FaerieMUD.org>.

Copyright © 2002, 2003 The FaerieMUD Consortium.

This work is licensed under the Creative Commons Attribution License. To view a copy of this license, visit creativecommons.org/licenses/by/1.0 or send a letter to Creative Commons, 559 Nathan Abbott Way, Stanford, California 94305, USA.

Version

 $Id: quaternion.rb 91 2005-07-27 23:45:01Z ged $

Required files