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Fix vector.rotate3
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@ -190,10 +190,13 @@ function angle(v, w)
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end
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end
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-- Uses Rodrigues' rotation formula
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-- Uses Rodrigues' rotation formula
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-- axis must be normalized
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function rotate3(v, axis, angle)
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function rotate3(v, axis, angle)
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assert(#v == 3 and #axis == 3)
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local cos = math.cos(angle)
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local cos = math.cos(angle)
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return multiply_scalar(v, cos)
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return multiply_scalar(v, cos)
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+ multiply_scalar(cross3(axis, v), math.sin(angle))
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-- Minetest's coordinate system is *left-handed*, so `v` and `axis` must be swapped here
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+ multiply_scalar(cross3(v, axis), math.sin(angle))
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+ multiply_scalar(axis, dot(axis, v) * (1 - cos))
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+ multiply_scalar(axis, dot(axis, v) * (1 - cos))
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end
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end
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