Rodrigues’ rotation formula: Difference between revisions
Added Raku
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SqrtNegInf (talk | contribs) (Added Raku) |
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print $json->encode($np) . "\n"; # => [ 2.23222107330823, 1.39513817081764, -8.37082902490585 ] = ok.
</lang>
=={{header|Raku}}==
<lang perl6>sub infix:<⋅> { [+] @^a »×« @^b }
sub norm (@v) { sqrt @v⋅@v }
sub normalize (@v) { @v X/ @v.&norm }
sub getAngle (@v1,@v2) { 180/π × acos (@v1⋅@v2) / (@v1.&norm × @v2.&norm) }
sub crossProduct ( @v1, @v2 ) {
my \a = <1 2 0>; my \b = <2 0 1>;
(@v1[a] »×« @v2[b]) »-« (@v1[b] »×« @v2[a])
}
sub aRotate ( @p, @v, $a ) {
my \ca = cos $a/180×π;
my \sa = sin $a/180×π;
my \t = 1 - ca;
my (\x,\y,\z) = @v;
map { @p⋅$_ },
[ ca + x×x×t, x×y×t - z×sa, x×z×t + y×sa],
[x×y×t + z×sa, ca + y×y×t, y×z×t - x×sa],
[z×x×t - y×sa, z×y×t + x×sa, ca + z×z×t]
}
my @v1 = [5,-6, 4];
my @v2 = [8, 5,-30];
say join ' ', aRotate @v1, normalize(crossProduct @v1, @v2), getAngle @v1, @v2;</lang>
{{out}}
<pre>2.232221073308229 1.3951381708176411 -8.370829024905852</pre>
=={{header|Wren}}==
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