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refactor

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This commit is contained in:
Justin Lin 2019-06-22 13:37:27 +08:00
parent ae78c61491
commit 17c62ba293
2 changed files with 71 additions and 69 deletions
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69
src/__private__/__m_rotation.scad Normal file
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@ -0,0 +1,69 @@
function __m_rotation_q_rotation(a, v) =
let(
half_a = a / 2,
axis = v / norm(v),
s = sin(half_a),
x = s * axis[0],
y = s * axis[1],
z = s * axis[2],
w = cos(half_a),
x2 = x + x,
y2 = y + y,
z2 = z + z,
xx = x * x2,
yx = y * x2,
yy = y * y2,
zx = z * x2,
zy = z * y2,
zz = z * z2,
wx = w * x2,
wy = w * y2,
wz = w * z2
)
[
[1 - yy - zz, yx - wz, zx + wy, 0],
[yx + wz, 1 - xx - zz, zy - wx, 0],
[zx - wy, zy + wx, 1 - xx - yy, 0],
[0, 0, 0, 1]
];
function __m_rotation_xRotation(a) =
let(c = cos(a), s = sin(a))
[
[1, 0, 0, 0],
[0, c, -s, 0],
[0, s, c, 0],
[0, 0, 0, 1]
];
function __m_rotation_yRotation(a) =
let(c = cos(a), s = sin(a))
[
[c, 0, s, 0],
[0, 1, 0, 0],
[-s, 0, c, 0],
[0, 0, 0, 1]
];
function __m_rotation_zRotation(a) =
let(c = cos(a), s = sin(a))
[
[c, -s, 0, 0],
[s, c, 0, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]
];
function __m_rotation_xyz_rotation(a) =
let(ang = __to_ang_vect(a))
__m_rotation_zRotation(ang[2]) * __m_rotation_yRotation(ang[1]) * __m_rotation_xRotation(ang[0]);
function __m_rotation(a, v) =
(a == 0 || a == [0, 0, 0] || a == [0] || a == [0, 0]) ? [
[1, 0, 0, 0],
[0, 1, 0, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]
] : (is_undef(v) ? __m_rotation_xyz_rotation(a) : __m_rotation_q_rotation(a, v));

71
src/m_rotation.scad
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@ -9,73 +9,6 @@
**/
include <__private__/__to_ang_vect.scad>;
include <__private__/__m_rotation.scad>;
function _q_rotation(a, v) =
let(
half_a = a / 2,
axis = v / norm(v),
s = sin(half_a),
x = s * axis[0],
y = s * axis[1],
z = s * axis[2],
w = cos(half_a),
x2 = x + x,
y2 = y + y,
z2 = z + z,
xx = x * x2,
yx = y * x2,
yy = y * y2,
zx = z * x2,
zy = z * y2,
zz = z * z2,
wx = w * x2,
wy = w * y2,
wz = w * z2
)
[
[1 - yy - zz, yx - wz, zx + wy, 0],
[yx + wz, 1 - xx - zz, zy - wx, 0],
[zx - wy, zy + wx, 1 - xx - yy, 0],
[0, 0, 0, 1]
];
function _m_xRotation(a) =
let(c = cos(a), s = sin(a))
[
[1, 0, 0, 0],
[0, c, -s, 0],
[0, s, c, 0],
[0, 0, 0, 1]
];
function _m_yRotation(a) =
let(c = cos(a), s = sin(a))
[
[c, 0, s, 0],
[0, 1, 0, 0],
[-s, 0, c, 0],
[0, 0, 0, 1]
];
function _m_zRotation(a) =
let(c = cos(a), s = sin(a))
[
[c, -s, 0, 0],
[s, c, 0, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]
];
function _xyz_rotation(a) =
let(ang = __to_ang_vect(a))
_m_zRotation(ang[2]) * _m_yRotation(ang[1]) * _m_xRotation(ang[0]);
function m_rotation(a, v) =
(a == 0 || a == [0, 0, 0] || a == [0] || a == [0, 0]) ? [
[1, 0, 0, 0],
[0, 1, 0, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]
] : (is_undef(v) ? _xyz_rotation(a) : _q_rotation(a, v));
function m_rotation(a, v) = __m_rotation(a, v);