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#include "rb_gsl.h"
/*!
Counter-clockwise rotation around the X-axis
/ x' \ / 1 0 0 \ / x \
| y' | = | 0 cos_th -sin_th | | y |
\ z' / \ 0 sin_th cos_th / \ z /
*/
void vector3_rotateX(const double x[3] /*!< Input */,
double theta /*!< Rotation angle */,
double xout[3] /*!< Output */)
{
double a, b, c;
double costheta, sintheta;
costheta = cos(theta);
sintheta = sin(theta);
a = x[0];
b = x[1]*costheta - x[2]*sintheta;
c = x[1]*sintheta + x[2]*costheta;
xout[0] = a;
xout[1] = b;
xout[2] = c;
}
/*!
Counter-clockwise rotation around the Y-axis
(Note the sign of the matrix element.)
/ x' \ / cos_th 0 sin_th \ / x \
| y' | = | 0 1 0 | | y |
\ z' / \ -sin_th 0 cos_th / \ z /
*/
void vector3_rotateY(const double x[3] /*!< Input */,
double theta /*!< Rotation angle */,
double xout[3] /*!< Output */)
{
double a, b, c;
double costheta, sintheta;
costheta = cos(theta);
sintheta = sin(theta);
a = x[0]*costheta + x[2]*sintheta;
b = x[1];
c = -x[0]*sintheta + x[2]*costheta;
xout[0] = a;
xout[1] = b;
xout[2] = c;
}
/*!
Counter-clockwise rotation around the Z-axis
/ x' \ / cos_th -sin_th 0 \ / x \
| y' | = | sin_th cos_th 0 | | y |
\ z' / \ 0 0 1 / \ z /
*/
void vector3_rotateZ(const double x[3] /*!< Input */,
double theta /*!< Rotation angle */,
double xout[3] /*!< Output */)
{
double a, b, c;
double costheta, sintheta;
costheta = cos(theta);
sintheta = sin(theta);
a = x[0]*costheta - x[1]*sintheta;
b = x[0]*sintheta + x[1]*costheta;
c = x[2];
xout[0] = a;
xout[1] = b;
xout[2] = c;
}
/*!
Rotate a 3-vector.
If flag != 1, cos/sin values stored in the static variables are used
for efficiency.
The input and the output vectors (x, xout) can be the same pointer.
/ x' \ / cos_phi -sin_phi 0 \ / cos_th 0 sin_th \ / x \
| y' | = | sin_phi cos_phi 0 | | 0 1 | | y |
\ z' / \ 0 0 1 / \ -sin_th 0 cos_th / \ z /
*/
void vector3_rotate(const double x[3], double theta, double phi,
double xout[3])
{
vector3_rotateY(x, theta,xout);
vector3_rotateZ(xout, phi, xout);
}
static VALUE rb_gsl_vector_rotateX(VALUE obj, VALUE angle)
{
gsl_vector *v;
Data_Get_Struct(obj, gsl_vector, v);
vector3_rotateX(v->data, NUM2DBL(angle), v->data);
return obj;
}
static VALUE rb_gsl_vector_rotateY(VALUE obj, VALUE angle)
{
gsl_vector *v;
Data_Get_Struct(obj, gsl_vector, v);
vector3_rotateY(v->data, NUM2DBL(angle), v->data);
return obj;
}
static VALUE rb_gsl_vector_rotateZ(VALUE obj, VALUE angle)
{
gsl_vector *v;
Data_Get_Struct(obj, gsl_vector, v);
vector3_rotateZ(v->data, NUM2DBL(angle), v->data);
return obj;
}
static VALUE rb_gsl_vector_rotate(VALUE obj, VALUE theta, VALUE phi)
{
gsl_vector *v;
Data_Get_Struct(obj, gsl_vector, v);
vector3_rotate(v->data, NUM2DBL(theta), NUM2DBL(phi), v->data);
return obj;
}
void Init_geometry(VALUE module)
{
rb_define_method(cgsl_vector, "rotateX", rb_gsl_vector_rotateX, 1);
rb_define_method(cgsl_vector, "rotateY", rb_gsl_vector_rotateY, 1);
rb_define_method(cgsl_vector, "rotateZ", rb_gsl_vector_rotateZ, 1);
rb_define_method(cgsl_vector, "rotate", rb_gsl_vector_rotate, 2);
}
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