Anonymous user
Rodrigues’ rotation formula: Difference between revisions
→{{header|JavaScript}}
(Added Wren) |
|||
Line 111:
</lang>
=={{header|Nim}}==
{{trans|Wren}}
Only changed most function names.
<lang Nim>import math
type
Vector = tuple[x, y, z: float]
Matrix = array[3, Vector]
func norm(v: Vector): float =
sqrt(v.x * v.x + v.y * v.y + v.z * v.z)
func normalized(v: Vector): Vector =
let length = v.norm()
result = (v.x / length, v.y / length, v.z / length)
func scalarProduct(v1, v2: Vector): float =
v1.x * v2.x + v1.y * v2.y + v1.z * v2.z
func vectorProduct(v1, v2: Vector): Vector =
(v1.y * v2.z - v1.z * v2.y, v1.z * v2.x - v1.x * v2.z, v1.x * v2.y - v1.y * v2.x)
func angle(v1, v2: Vector): float =
arccos(scalarProduct(v1, v2) / (norm(v1) * norm(v2)))
func `*`(m: Matrix; v: Vector): Vector =
(scalarProduct(m[0], v), scalarProduct(m[1], v), scalarProduct(m[2], v))
func rotate(p, v: Vector; a: float): Vector =
let ca = cos(a)
let sa = sin(a)
let t = 1 - ca
let r = [(ca + v.x * v.x * t, v.x * v.y * t - v.z * sa, v.x * v.z * t + v.y * sa),
(v.x * v.y * t + v.z * sa, ca + v.y * v.y * t, v.y * v.z * t - v.x * sa),
(v.z * v.x * t - v.y * sa, v.z * v.y * t + v.x * sa, ca + v.z * v.z * t)]
result = r * p
let
v1 = (5.0, -6.0, 4.0)
v2 = (8.0, 5.0, -30.0)
a = angle(v1, v2)
vp = vectorProduct(v1, v2)
nvp = normalized(vp)
np = v1.rotate(nvp, a)
echo np</lang>
{{out}}
<pre>(x: 2.232221073308228, y: 1.395138170817643, z: -8.370829024905852)</pre>
=={{header|Wren}}==
| |||