Added Vector Class

BoneCentral/Brain/Tests/test_vector.js

@@ -0,0 +1,127 @@
+var vector = require('../Utilities/vector.js')
+
+const p = "PASS", f = "FAIL";
+var state;
+
+function within(target, precision, test) {
+    return (test < target+precision) && (test > target-precision);
+}
+
+var res = vector.zero;
+state = (res &&
+        (typeof res.x != 'undefined' && res.x===0)&&
+        (typeof res.y != 'undefined' && res.y===0)&&
+        (typeof res.z != 'undefined' && res.z===0))?p:f;
+console.log("zero: "+JSON.stringify(res)+"\t\t\t"+state);
+
+res = vector.one;
+state = (res &&
+        (typeof res.x != 'undefined' && res.x===1)&&
+        (typeof res.y != 'undefined' && res.y===1)&&
+        (typeof res.z != 'undefined' && res.z===1))?p:f;
+console.log("one:  "+JSON.stringify(res)+"\t\t\t"+state);
+
+res = vector.look;
+state = (res &&
+        (typeof res.x != 'undefined' && res.x===0)&&
+        (typeof res.y != 'undefined' && res.y===0)&&
+        (typeof res.z != 'undefined' && res.z===1))?p:f;
+console.log("look:  "+JSON.stringify(res)+"\t\t\t"+state);
+
+res = vector.right;
+state = (res &&
+        (typeof res.x != 'undefined' && res.x===1)&&
+        (typeof res.y != 'undefined' && res.y===0)&&
+        (typeof res.z != 'undefined' && res.z===0))?p:f;
+console.log("right:  "+JSON.stringify(res)+"\t\t\t"+state);
+
+res = vector.up;
+state = (res &&
+        (typeof res.x != 'undefined' && res.x===0)&&
+        (typeof res.y != 'undefined' && res.y===1)&&
+        (typeof res.z != 'undefined' && res.z===0))?p:f;
+console.log("up:  "+JSON.stringify(res)+"\t\t\t"+state);
+
+res = vector.v3(1,2,3);
+state = (res &&
+        (typeof res.x != 'undefined' && res.x===1)&&
+        (typeof res.y != 'undefined' && res.y===2)&&
+        (typeof res.z != 'undefined' && res.z===3))?p:f;
+console.log("xyz:  "+JSON.stringify(res)+"\t\t\t"+state);
+
+var r3= Math.sqrt(3);
+res = vector.v3(1,1,1);
+res = vector.mag(res);
+state = (r3 === res)?p:f;
+console.log("mag(x,y,z): "+res.toFixed(3)+"\t\t\t\t"+state);
+
+var u = vector.v3(1,2,3);
+var v = vector.v3(4,5,6);
+res = vector.cross(u,v);
+state = (res.x===-3&&res.y===6&&res.z===-3)?p:f;
+console.log("cross(u,v): "+JSON.stringify(res)+"\t\t"+state);
+
+var w = vector.v3(1, 2, 3);
+res = vector.unit(w);
+state = (res.x===0.2672612419124244&&
+         res.y===0.5345224838248488&&
+         res.z===0.8017837257372732)?p:f;
+console.log("unit(v): {\"x\":"+res.x.toFixed(2)+",\"y\":"+res.y.toFixed(2)+
+        ",\"z\":"+res.z.toFixed(2)+"}\t\t"+state);
+
+res = vector.dot(u,v);
+state = (res===32)?p:f;
+console.log("dot(u,v): "+res+"\t\t\t\t\t"+state);
+
+res = vector.negate(vector.one);
+state = (res.x===-1&&res.y===-1&&res.z===-1)?p:f;
+console.log("negate(v): "+JSON.stringify(res)+"\t\t"+state);
+
+res = vector.add(u, v);
+state = (res.x===5&&res.y===7&&res.z===9)?p:f;
+console.log("add(u, v): "+JSON.stringify(res)+"\t\t\t"+state);
+
+res = vector.scale(vector.one, 2);
+state = (res.x===2&&res.y===2&&res.z===2)?p:f;
+console.log("scale(v,s): "+JSON.stringify(res)+"\t\t\t"+state);
+
+res = vector.rotx(vector.up, 0.5*Math.PI);
+state = (within(0,0.0001,res.x)&&
+         within(0,0.0001,res.y)&&
+         within(1,0.0001,res.z))?p:f;
+console.log("rotx(v,theta): {\"x\":"+res.x.toFixed(2)+
+        ",\"y\":"+res.y.toFixed(2)+",\"z\":"+res.z.toFixed(2)+"}\t"+state);
+
+res = vector.rotz(vector.up, 0.5*Math.PI);
+state = (within(-1,0.0001,res.x)&&
+         within(0,0.0001,res.y)&&
+         within(0,0.0001,res.z))?p:f;
+console.log("rotz(v,theta): {\"x\":"+res.x.toFixed(2)+
+        ",\"y\":"+res.y.toFixed(2)+",\"z\":"+res.z.toFixed(2)+"}\t"+state);
+
+res = vector.roty(vector.look, 0.5*Math.PI);
+state = (within(1,0.0001,res.x)&&
+         within(0,0.0001,res.y)&&
+         within(0,0.0001,res.z))?p:f;
+console.log("roty(v,theta): {\"x\":"+res.x.toFixed(2)+
+        ",\"y\":"+res.y.toFixed(2)+",\"z\":"+res.z.toFixed(2)+"}\t"+state);
+
+u = vector.up;
+v = vector.look;
+res = vector.angle(u,v)*180/Math.PI;
+state = within(90,0.0001,res)?p:f;
+console.log("angle(u,v): "+res.toFixed(2)+"\t\t\t\t"+state);
+
+v = vector.rotx(v, -45/180.0*Math.PI);
+res = vector.angle(u,v)*180/Math.PI;
+state = within(45,0.0001,res)?p:f;
+console.log("angle(u,v): "+res.toFixed(2)+"\t\t\t\t"+state);
+
+var axis = vector.unit(vector.one);
+v = vector.v3(1,-1,0);
+res = vector.rot(v, axis, Math.PI);
+state = (within(-1,0.0001,res.x)&&
+         within(1,0.0001,res.y)&&
+         within(0,0.0001,res.z))?p:f;
+console.log("rot(v,ax,theta): {\"x\":"+res.x.toFixed(2)+
+        ",\"y\":"+res.y.toFixed(2)+",\"z\":"+res.z.toFixed(2)+"}\t"+state);

BoneCentral/Brain/Utilities/vector.js

@@ -0,0 +1,121 @@
+var mag = function(v) {
+    return Math.sqrt(v.x*v.x + v.y*v.y + v.z*v.z);
+};
+var cross = function(u, v) {
+    var res = v3(0,0,0);
+    res.x = (u.y*v.z - u.z*v.y);
+    res.y = (u.z*v.x - u.x*v.z);
+    res.z = (u.x*v.y - u.y*v.x);
+    return res;
+};
+var unit = function(v) {
+    var res     = v3(0,0,0);
+    var vmag    = mag(v);
+    res.x       = v.x/vmag;
+    res.y       = v.y/vmag;
+    res.z       = v.z/vmag;
+    return res;
+};
+var negate = function(v) {
+    var res = v3(0,0,0);
+    res.x = -v.x;
+    res.y = -v.y;
+    res.z = -v.z
+    return res;
+};
+var add = function(u, v) {
+    var res = v3(0,0,0);
+    res.x = u.x + v.x;
+    res.y = u.y + v.y;
+    res.z = u.z + v.z;
+    return res;
+};
+var scale = function(v,s) {
+    var res = v3(0,0,0);
+    res.x = s*v.x;
+    res.y = s*v.y;
+    res.z = s*v.z;
+    return res;
+};
+var dot = function(u,v) {
+    return u.x*v.x + u.y*v.y + u.z*v.z;
+};
+var angle = function(u, v) {
+    var mu = mag(u);
+    var mv = mag(v);
+    if(mu === 0 || mv === 0)
+        return 180;
+    var q = dot(u,v) / (mu * mv);
+    return Math.acos(q);
+};
+
+var rotatex = function(v, theta) {
+    var res = v3(0,0,0);
+    res.x = v.x;
+    res.y = v.y*Math.cos(theta) - v.z*Math.sin(theta);
+    res.z = v.y*Math.sin(theta) + v.z*Math.cos(theta);
+    return res;
+};
+var rotatey = function(v, theta) {
+    var res = v3(0,0,0);
+    res.x =  v.x*Math.cos(theta) + v.z*Math.sin(theta);
+    res.y =  v.y;
+    res.z = -v.x*Math.sin(theta) + v.z*Math.cos(theta);
+    return res;
+};
+var rotatez = function(v, theta) {
+    var res = v3(0,0,0);
+    res.x = v.x*Math.cos(theta) - v.y*Math.sin(theta);
+    res.y = v.x*Math.sin(theta) + v.y*Math.cos(theta);
+    res.z = v.z;
+    return res;
+};
+var rotate  = function(v, axis, theta) {
+    var res = v3(0,0,0);
+    a = unit(axis);
+
+    var _c = Math.cos(theta);
+    var _s = Math.sin(theta);
+    var _u = dot(a,v)*(1 - _c);
+
+    res.x = a.x*_u + v.x*_c + (-a.z*v.y + a.y*a.z)*_s;
+    res.y = a.y*_u + v.y*_c + ( a.z*v.x - a.x*v.z)*_s;
+    res.z = a.z*_u + v.z*_c + (-a.y*v.x + a.x*v.y)*_s;
+
+    return res;
+};
+
+var v3 = function(x,y,z) {
+    return {x:x,y:y,z:z};
+}
+var print = function(v,f,m) {
+    if(typeof f == 'undefined')
+        f = 3;
+    if(typeof m == 'undefined')
+        m = "";
+    console.log(m+"{x: "+v.x.toFixed(f)+",\ty: "+v.y.toFixed(f)+",\tz: "+v.z.toFixed(f)+"}");
+}
+
+module.exports = {
+    mag: mag,
+    cross: cross,
+    unit: unit,
+    dot: dot,
+    negate: negate,
+    add: add,
+    scale: scale,
+    rotx: rotatex,
+    roty: rotatey,
+    rotz: rotatez,
+    rot:  rotate,
+    angle: angle,
+
+    v3: v3,
+    zero: v3(0,0,0),
+    one: v3(1,1,1),
+    look: v3(0,0,1),
+    right: v3(1,0,0),
+    up: v3(0,1,0),
+
+    print: print
+};