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Fixed rotate_points3d(from,to)
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d1a9d98033
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1 changed files with 30 additions and 16 deletions
46
math.scad
46
math.scad
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@ -941,25 +941,38 @@ function rotate_points2d(pts, ang, cp=[0,0]) = let(
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// from = If given, the vector to rotate something from. Used with `to`.
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// to = If given, the vector to rotate something to. Used with `from`.
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// reverse = If true, performs an exactly reversed rotation.
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function rotate_points3d(pts, v=[0,0,0], cp=[0,0,0], axis=undef, from=undef, to=undef, reverse=false) =
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function rotate_points3d(pts, v=0, cp=[0,0,0], axis=undef, from=undef, to=undef, reverse=false) =
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let(
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dummy = assertion(is_def(from)==is_def(to), "`from` and `to` must be given together."),
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mrot = reverse? (
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is_def(from)? let (
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ang = vector_angle(from, to),
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axis = vector_axis(from, to)
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) matrix4_rot_by_axis(from, -v) * matrix4_rot_by_axis(axis, -ang) :
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is_def(axis)? matrix4_rot_by_axis(axis, -v) :
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is_scalar(v)? matrix4_zrot(-v) :
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matrix4_xrot(-v.x) * matrix4_yrot(-v.y) * matrix4_zrot(-v.z)
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is_def(from)? (
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let (
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ang = vector_angle(from, to),
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axis = vector_axis(from, to)
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)
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matrix4_rot_by_axis(from, -v) * matrix4_rot_by_axis(axis, -ang)
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) : is_def(axis)? (
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matrix4_rot_by_axis(axis, -v)
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) : is_scalar(v)? (
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matrix4_zrot(-v)
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) : (
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matrix4_xrot(-v.x) * matrix4_yrot(-v.y) * matrix4_zrot(-v.z)
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)
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) : (
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is_def(from)? let (
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ang = vector_angle(from, to),
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axis = vector_axis(from, to)
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) matrix4_rot_by_axis(axis, ang) * matrix4_rot_by_axis(from, v) :
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is_def(axis)? matrix4_rot_by_axis(axis, v) :
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is_scalar(v)? matrix4_zrot(v) :
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matrix4_zrot(v.z) * matrix4_yrot(v.y) * matrix4_xrot(v.x)
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is_def(from)? (
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let (
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ang = vector_angle(from, to),
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axis = vector_axis(from, to)
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)
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echo(axis=axis, ang=ang, v=v)
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matrix4_rot_by_axis(axis, ang) * matrix4_rot_by_axis(from, v)
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) : is_def(axis)? (
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matrix4_rot_by_axis(axis, v)
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) : is_scalar(v)? (
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matrix4_zrot(v)
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) : (
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matrix4_zrot(v.z) * matrix4_yrot(v.y) * matrix4_xrot(v.x)
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)
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),
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m = matrix4_translate(cp) * mrot * matrix4_translate(-cp)
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) [for (pt = pts) point3d(m*concat(point3d(pt),[1]))];
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@ -1286,7 +1299,8 @@ function matrix4_zrot(ang) = assert(ang!=undef) [
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function matrix4_rot_by_axis(u, ang) = let(
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u = normalize(u),
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c = cos(ang),
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c2 = 1-c, s = sin(ang)
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c2 = 1-c,
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s = sin(ang)
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) [
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[u[0]*u[0]*c2+c , u[0]*u[1]*c2-u[2]*s, u[0]*u[2]*c2+u[1]*s, 0],
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[u[1]*u[0]*c2+u[2]*s, u[1]*u[1]*c2+c , u[1]*u[2]*c2-u[0]*s, 0],
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