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refactor

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Justin Lin
2019-04-28 17:48:41 +08:00
parent 92f4e12a9a
commit 022269a13b
1 changed files with 3 additions and 2 deletions
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5
src/m_rotation.scad
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@@ -2,12 +2,13 @@ include <__private__/__m_multiply.scad>;
function _q_rotation(a, v) = function _q_rotation(a, v) =
let( let(
half_a = a / 2,
axis = v / norm(v), axis = v / norm(v),
s = sin(a / 2), s = sin(half_a),
x = s * axis[0], x = s * axis[0],
y = s * axis[1], y = s * axis[1],
z = s * axis[2], z = s * axis[2],
w = cos(a / 2), w = cos(half_a),
x2 = x + x, x2 = x + x,
y2 = y + y, y2 = y + y,