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Made rotate_points3d() accept axis or from/to args.

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Revar Desmera 2019-03-31 18:43:54 -07:00
parent 5a09252c5c
commit d1a9d98033
2 changed files with 60 additions and 27 deletions
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65
math.scad
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@ -834,6 +834,25 @@ function vector3d_angle(v1,v2) = vector_angle(v1,v2);
function vector_angle(v1,v2) = acos(constrain((v1*v2)/(norm(v1)*norm(v2)), -1, 1));
// Function: vector_axis()
// Usage:
// vector_xis(v1,v2);
// Description:
// Returns the vector perpendicular to both of the given vectors.
// Arguments:
// v1 = First vector.
// v2 = Second vector.
function vector_axis(v1,v2) =
let(
eps = 0.00001,
vv1 = normalize(point3d(v1)),
vv2 = normalize(point3d(v2)),
vv3 = norm(v1+v2)>eps? vv2 :
norm(vabs(vv2)-V_UP)>eps? V_UP :
V_RIGHT
) normalize(cross(vv1,vv3));
// Section: Coordinates Manipulation
// Function: point2d()
@ -910,21 +929,45 @@ function rotate_points2d(pts, ang, cp=[0,0]) = let(
// Function: rotate_points3d()
// Usage:
// rotate_points3d(pts, v, [cp], [reverse]);
// rotate_points3d(pts, v, axis, [cp], [reverse]);
// rotate_points3d(pts, from, to, v, [cp], [reverse]);
// Description:
// Rotates each 3D point in an array by a given amount, around a given centerpoint.
// Arguments:
// pts = List of 3D points to rotate.
// v = Vector of rotation angles for each axis, [X,Y,Z]
// cp = 3D Centerpoint to rotate around.
// pts = List of points to rotate.
// v = Rotation angle(s) in degrees.
// axis = If given, axis vector to rotate around.
// cp = Centerpoint to rotate around.
// from = If given, the vector to rotate something from. Used with `to`.
// to = If given, the vector to rotate something to. Used with `from`.
// reverse = If true, performs an exactly reversed rotation.
function rotate_points3d(pts, v=[0,0,0], cp=[0,0,0], reverse=false) = let(
m = reverse?
matrix4_xrot(-v[0]) * matrix4_yrot(-v[1]) * matrix4_zrot(-v[2]) :
matrix4_zrot(v[2]) * matrix4_yrot(v[1]) * matrix4_xrot(v[0])
) [for (pt = pts) m*concat(point3d(pt)-cp, 0)+cp];
function rotate_points3d(pts, v=[0,0,0], cp=[0,0,0], axis=undef, from=undef, to=undef, reverse=false) =
let(
dummy = assertion(is_def(from)==is_def(to), "`from` and `to` must be given together."),
mrot = reverse? (
is_def(from)? let (
ang = vector_angle(from, to),
axis = vector_axis(from, to)
) matrix4_rot_by_axis(from, -v) * matrix4_rot_by_axis(axis, -ang) :
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 (
ang = vector_angle(from, to),
axis = vector_axis(from, to)
) 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)
) [for (pt = pts) point3d(m*concat(point3d(pt),[1]))];
// Function: rotate_points3d_around_axis()
// Status: DEPRECATED, use `rotate_points3d(pts, v=ang, axis=u, cp=cp)` instead.
// Usage:
// rotate_points3d_around_axis(pts, ang, u, [cp])
// Description:
@ -1196,7 +1239,7 @@ function matrix3_zrot(ang) = [
// Returns the 4x4 matrix to perform a rotation of a 3D vector around the X axis.
// Arguments:
// ang = number of degrees to rotate.
function matrix4_xrot(ang) = [
function matrix4_xrot(ang) = assert(ang!=undef) [
[1, 0, 0, 0],
[0, cos(ang), -sin(ang), 0],
[0, sin(ang), cos(ang), 0],
@ -1209,7 +1252,7 @@ function matrix4_xrot(ang) = [
// Returns the 4x4 matrix to perform a rotation of a 3D vector around the Y axis.
// Arguments:
// ang = Number of degrees to rotate.
function matrix4_yrot(ang) = [
function matrix4_yrot(ang) = assert(ang!=undef) [
[ cos(ang), 0, sin(ang), 0],
[ 0, 1, 0, 0],
[-sin(ang), 0, cos(ang), 0],
@ -1224,7 +1267,7 @@ function matrix4_yrot(ang) = [
// Returns the 4x4 matrix to perform a rotation of a 3D vector around the Z axis.
// Arguments:
// ang = number of degrees to rotate.
function matrix4_zrot(ang) = [
function matrix4_zrot(ang) = assert(ang!=undef) [
[cos(ang), -sin(ang), 0, 0],
[sin(ang), cos(ang), 0, 0],
[ 0, 0, 1, 0],

22
transforms.scad
View File

@ -276,25 +276,15 @@ module rot(a=0, v=undef, cp=undef, from=undef, to=undef, reverse=false)
if (is_def(cp)) {
translate(cp) rot(a=a, v=v, from=from, to=to, reverse=reverse) translate(-cp) children();
} else if (is_def(from)) {
eps = 0.00001;
assertion(is_def(to), "`from` and `to` should be used together.");
vv1 = normalize(from);
vv2 = normalize(to);
if (norm(vv2-vv1) < eps && a == 0) {
axis = vector_axis(from, to);
ang = vector_angle(from, to);
if (ang < 0.0001 && a == 0) {
children(); // May be slightly faster?
} else if (reverse) {
rotate(a=-ang, v=axis) rotate(a=-a, v=from) children();
} else {
vv3 = (
(norm(vv1+vv2) > eps)? vv2 :
(norm(vabs(vv2)-V_UP) > eps)? V_UP :
V_RIGHT
);
axis = normalize(cross(vv1, vv3));
ang = vector_angle(vv1, vv2);
if (reverse) {
rotate(a=-ang, v=axis) rotate(a=-a, v=vv1) children();
} else {
rotate(a=ang, v=axis) rotate(a=a, v=vv1) children();
}
rotate(a=ang, v=axis) rotate(a=a, v=from) children();
}
} else if (a == 0) {
children(); // May be slightly faster?