Rodrigues’ rotation formula: Difference between revisions
Added Processing implementation
({{header|Ada}}) |
(Added Processing implementation) |
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Line 906:
{2.232221073,1.395138171,-8.370829025}
</pre>
=={{header|Processing}}==
<lang java>
//Aamrun, 30th June 2022
class Vector{
private double x, y, z;
public Vector(double x1,double y1,double z1){
x = x1;
y = y1;
z = z1;
}
void printVector(int x,int y){
text("( " + this.x + " ) \u00ee + ( " + this.y + " ) + \u0135 ( " + this.z + ") \u006b\u0302",x,y);
}
public double norm() {
return Math.sqrt(this.x*this.x + this.y*this.y + this.z*this.z);
}
public Vector normalize(){
double length = this.norm();
return new Vector(this.x / length, this.y / length, this.z / length);
}
public double dotProduct(Vector v2) {
return this.x*v2.x + this.y*v2.y + this.z*v2.z;
}
public Vector crossProduct(Vector v2) {
return new Vector(this.y*v2.z - this.z*v2.y, this.z*v2.x - this.x*v2.z, this.x*v2.y - this.y*v2.x);
}
public double getAngle(Vector v2) {
return Math.acos(this.dotProduct(v2) / (this.norm()*v2.norm()));
}
public Vector aRotate(Vector v, double a) {
double ca = Math.cos(a), sa = Math.sin(a);
double t = 1.0 - ca;
double x = v.x, y = v.y, z = v.z;
Vector[] r = {
new Vector(ca + x*x*t, x*y*t - z*sa, x*z*t + y*sa),
new Vector(x*y*t + z*sa, ca + y*y*t, y*z*t - x*sa),
new Vector(z*x*t - y*sa, z*y*t + x*sa, ca + z*z*t)
};
return new Vector(this.dotProduct(r[0]), this.dotProduct(r[1]), this.dotProduct(r[2]));
}
}
void setup(){
Vector v1 = new Vector(5d, -6d, 4d),v2 = new Vector(8d, 5d, -30d);
double a = v1.getAngle(v2);
Vector cp = v1.crossProduct(v2);
Vector normCP = cp.normalize();
Vector np = v1.aRotate(normCP,a);
size(1200,600);
fill(#000000);
textSize(30);
text("v1 = ",10,100);
v1.printVector(60,100);
text("v2 = ",10,150);
v2.printVector(60,150);
text("rV = ",10,200);
np.printVector(60,200);
}
</lang>
=={{header|Raku}}==
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