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Fixed rotate_points3d(from,to)

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Revar Desmera 2019-04-01 18:55:48 -07:00
parent d1a9d98033
commit a4c4738f80
1 changed files with 30 additions and 16 deletions
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46
math.scad
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@ -941,25 +941,38 @@ function rotate_points2d(pts, ang, cp=[0,0]) = let(
// from = If given, the vector to rotate something from. Used with `to`. // from = If given, the vector to rotate something from. Used with `to`.
// to = If given, the vector to rotate something to. Used with `from`. // to = If given, the vector to rotate something to. Used with `from`.
// reverse = If true, performs an exactly reversed rotation. // reverse = If true, performs an exactly reversed rotation.
function rotate_points3d(pts, v=[0,0,0], cp=[0,0,0], axis=undef, from=undef, to=undef, reverse=false) = function rotate_points3d(pts, v=0, cp=[0,0,0], axis=undef, from=undef, to=undef, reverse=false) =
let( let(
dummy = assertion(is_def(from)==is_def(to), "`from` and `to` must be given together."), dummy = assertion(is_def(from)==is_def(to), "`from` and `to` must be given together."),
mrot = reverse? ( mrot = reverse? (
is_def(from)? let ( is_def(from)? (
ang = vector_angle(from, to), let (
axis = vector_axis(from, to) ang = vector_angle(from, to),
) matrix4_rot_by_axis(from, -v) * matrix4_rot_by_axis(axis, -ang) : axis = vector_axis(from, to)
is_def(axis)? matrix4_rot_by_axis(axis, -v) : )
is_scalar(v)? matrix4_zrot(-v) : matrix4_rot_by_axis(from, -v) * matrix4_rot_by_axis(axis, -ang)
matrix4_xrot(-v.x) * matrix4_yrot(-v.y) * matrix4_zrot(-v.z) ) : is_def(axis)? (
matrix4_rot_by_axis(axis, -v)
) : is_scalar(v)? (
matrix4_zrot(-v)
) : (
matrix4_xrot(-v.x) * matrix4_yrot(-v.y) * matrix4_zrot(-v.z)
)
) : ( ) : (
is_def(from)? let ( is_def(from)? (
ang = vector_angle(from, to), let (
axis = vector_axis(from, to) ang = vector_angle(from, to),
) matrix4_rot_by_axis(axis, ang) * matrix4_rot_by_axis(from, v) : axis = vector_axis(from, to)
is_def(axis)? matrix4_rot_by_axis(axis, v) : )
is_scalar(v)? matrix4_zrot(v) : echo(axis=axis, ang=ang, v=v)
matrix4_zrot(v.z) * matrix4_yrot(v.y) * matrix4_xrot(v.x) matrix4_rot_by_axis(axis, ang) * matrix4_rot_by_axis(from, v)
) : is_def(axis)? (
matrix4_rot_by_axis(axis, v)
) : is_scalar(v)? (
matrix4_zrot(v)
) : (
matrix4_zrot(v.z) * matrix4_yrot(v.y) * matrix4_xrot(v.x)
)
), ),
m = matrix4_translate(cp) * mrot * matrix4_translate(-cp) m = matrix4_translate(cp) * mrot * matrix4_translate(-cp)
) [for (pt = pts) point3d(m*concat(point3d(pt),[1]))]; ) [for (pt = pts) point3d(m*concat(point3d(pt),[1]))];
@ -1286,7 +1299,8 @@ function matrix4_zrot(ang) = assert(ang!=undef) [
function matrix4_rot_by_axis(u, ang) = let( function matrix4_rot_by_axis(u, ang) = let(
u = normalize(u), u = normalize(u),
c = cos(ang), c = cos(ang),
c2 = 1-c, s = sin(ang) c2 = 1-c,
s = sin(ang)
) [ ) [
[u[0]*u[0]*c2+c , u[0]*u[1]*c2-u[2]*s, u[0]*u[2]*c2+u[1]*s, 0], [u[0]*u[0]*c2+c , u[0]*u[1]*c2-u[2]*s, u[0]*u[2]*c2+u[1]*s, 0],
[u[1]*u[0]*c2+u[2]*s, u[1]*u[1]*c2+c , u[1]*u[2]*c2-u[0]*s, 0], [u[1]*u[0]*c2+u[2]*s, u[1]*u[1]*c2+c , u[1]*u[2]*c2-u[0]*s, 0],