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This commit is contained in:
Justin Lin
2019-04-30 08:29:56 +08:00
parent 7ec08a7603
commit 8e96639d5a
1 changed files with 9 additions and 7 deletions
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16
src/m_rotation.scad
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@@ -58,11 +58,13 @@ function _m_zRotation(a) =
[0, 0, 0, 1] [0, 0, 0, 1]
]; ];
function _xyz_rotation(a) =
let(ang = len(a) == 3 ? a : [0, 0, a])
__m_multiply(
_m_zRotation(ang[2]), __m_multiply(
_m_yRotation(ang[1]), _m_xRotation(ang[0])
)
);
function m_rotation(a, v) = function m_rotation(a, v) =
v == undef ? v == undef ? _xyz_rotation(a) : _q_rotation(a, v);
__m_multiply(
_m_zRotation(a[2]), __m_multiply(
_m_yRotation(a[1]), _m_xRotation(a[0])
)
) :
_q_rotation(a, v);