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refactor

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This commit is contained in:
Justin Lin 2022-05-11 10:51:41 +08:00
parent 8250c9ff32
commit f2e437fdd4
2 changed files with 58 additions and 32 deletions
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46
src/turtle/_impl/_t3d_impl.scad
View File

@ -1,5 +1,3 @@
use <../../matrix/m_rotation.scad>;
function _create(pt, unit_vts) =
[
is_undef(pt) ? [0, 0, 0] : pt,
@ -27,22 +25,40 @@ function _zu_forward(turtle, leng) = _create(
_unit_vts(turtle)
);
function _q_rotation(a, v) =
let(
uv = v / norm(v),
s = sin(a / 2) * uv,
w = sin(a) * uv,
xx = 2 * s.x ^ 2,
yy = 2 * s.y ^ 2,
zz = 2 * s.z ^ 2,
xy = 2 * s.x * s.y,
xz = 2 * s.x * s.z,
yz = 2 * s.y * s.z
)
[
[1 - yy - zz, xy - w.z, xz + w.y],
[xy + w.z, 1 - xx - zz, yz - w.x],
[xz - w.y, yz + w.x, 1 - xx - yy]
];
// turn the turtle around the x'-axis
// return a new unit vector
function _xu_turn(turtle, a) =
let(
unit_vts = _unit_vts(turtle),
xu = unit_vts.x,
m = m_rotation(a, xu),
nyu = m * [each unit_vts.y, 1],
nzu = m * [each unit_vts.z, 1]
m = _q_rotation(a, xu)
)
_create(
_pt(turtle),
[
xu,
[nyu.x, nyu.y, nyu.z],
[nzu.x, nzu.y, nzu.z]
m * unit_vts.y,
m * unit_vts.z
]
);
@ -52,16 +68,14 @@ function _yu_turn(turtle, a) =
let(
unit_vts = _unit_vts(turtle),
yu = unit_vts.y,
m = m_rotation(a, yu),
nxu = m * [each unit_vts.x, 1],
nzu = m * [each unit_vts.z, 1]
m = _q_rotation(a, yu)
)
_create(
_pt(turtle),
[
[nxu.x, nxu.y, nxu.z],
m * unit_vts.x,
yu,
[nzu.x, nzu.y, nzu.z]
m * unit_vts.z
]
);
@ -71,15 +85,13 @@ function _zu_turn(turtle, a) =
let(
unit_vts = _unit_vts(turtle),
zu = unit_vts.z,
m = m_rotation(a, zu),
nxu = m * [each unit_vts.x, 1],
nyu = m * [each unit_vts.y, 1]
m = _q_rotation(a, zu)
)
_create(
_pt(turtle),
[
[nxu.x, nxu.y, nxu.z],
[nyu.x, nyu.y, nyu.z],
m * unit_vts.x,
m * unit_vts.y,
zu
]
);

44
src/turtle/_impl/_turtle3d_impl.scad
View File

@ -28,22 +28,40 @@ function _zu_move(turtle, leng) = _create(
_unit_vts(turtle)
);
function _q_rotation(a, v) =
let(
uv = v / norm(v),
s = sin(a / 2) * uv,
w = sin(a) * uv,
xx = 2 * s.x ^ 2,
yy = 2 * s.y ^ 2,
zz = 2 * s.z ^ 2,
xy = 2 * s.x * s.y,
xz = 2 * s.x * s.z,
yz = 2 * s.y * s.z
)
[
[1 - yy - zz, xy - w.z, xz + w.y],
[xy + w.z, 1 - xx - zz, yz - w.x],
[xz - w.y, yz + w.x, 1 - xx - yy]
];
// turn the turtle around the x'-axis
// return a new unit vector
function _xu_turn(turtle, a) =
let(
unit_vts = _unit_vts(turtle),
xu = unit_vts.x,
m = m_rotation(a, xu),
nyu = m * [each unit_vts.y, 1],
nzu = m * [each unit_vts.z, 1]
m = _q_rotation(a, xu)
)
_create(
_pt(turtle),
[
xu,
[nyu.x, nyu.y, nyu.z],
[nzu.x, nzu.y, nzu.z]
m * unit_vts.y,
m * unit_vts.z
]
);
@ -53,16 +71,14 @@ function _yu_turn(turtle, a) =
let(
unit_vts = _unit_vts(turtle),
yu = unit_vts.y,
m = m_rotation(a, yu),
nxu = m * [each unit_vts.x, 1],
nzu = m * [each unit_vts.z, 1]
m = _q_rotation(a, yu)
)
_create(
_pt(turtle),
[
[nxu.x, nxu.y, nxu.z],
m * unit_vts.x,
yu,
[nzu.x, nzu.y, nzu.z]
m * unit_vts.z
]
);
@ -72,15 +88,13 @@ function _zu_turn(turtle, a) =
let(
unit_vts = _unit_vts(turtle),
zu = unit_vts.z,
m = m_rotation(a, zu),
nxu = m * [each unit_vts.x, 1],
nyu = m * [each unit_vts.y, 1]
m = _q_rotation(a, zu)
)
_create(
_pt(turtle),
[
[nxu.x, nxu.y, nxu.z],
[nyu.x, nyu.y, nyu.z],
m * unit_vts.x,
m * unit_vts.y,
zu
]
);