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44 lines
1 KiB
OpenSCAD
44 lines
1 KiB
OpenSCAD
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use <se3.scad>
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use <linalg.scad>
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use <lists.scad>
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/*!
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Creates a rotation matrix
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xyz = euler angles = rz * ry * rx
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axis = rotation_axis * rotation_angle
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*/
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function rotation(xyz=undef, axis=undef) =
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xyz != undef && axis != undef ? undef :
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xyz == undef ? se3_exp([0,0,0,axis[0],axis[1],axis[2]]) :
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len(xyz) == undef ? rotation(axis=[0,0,xyz]) :
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(len(xyz) >= 3 ? rotation(axis=[0,0,xyz[2]]) : identity4()) *
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(len(xyz) >= 2 ? rotation(axis=[0,xyz[1],0]) : identity4()) *
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(len(xyz) >= 1 ? rotation(axis=[xyz[0],0,0]) : identity4());
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/*!
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Creates a scaling matrix
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*/
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function scaling(v) = [
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[v[0],0,0,0],
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[0,v[1],0,0],
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[0,0,v[2],0],
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[0,0,0,1],
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];
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/*!
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Creates a translation matrix
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*/
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function translation(v) = [
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[1,0,0,v[0]],
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[0,1,0,v[1]],
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[0,0,1,v[2]],
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[0,0,0,1],
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];
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// Convert between cartesian and homogenous coordinates
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function project(x) = subarray(x,end=len(x)-1) / x[len(x)-1];
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function transform(m, list) = [for (p=list) project(m * vec4(p))];
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function to_3d(list) = [ for(v = list) vec3(v) ];
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