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Add vector.rotate3

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This commit is contained in:
Lars Mueller 2021-07-03 17:29:35 +02:00
parent 95415c0929
commit 263560f48c
1 changed files with 8 additions and 0 deletions
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8
vector.lua
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@ -190,6 +190,14 @@ function angle(v, w)
return math.acos(dot(v, w) / length(v) / length(w))
end
-- Uses Rodrigues' rotation formula
function rotate3(v, axis, angle)
local cos = math.cos(angle)
return multiply_scalar(v, cos)
+ multiply_scalar(cross3(axis, v), math.sin(angle))
+ multiply_scalar(axis, dot(axis, v) * (1 - cos))
end
function box_box_collision(diff, box, other_box)
for index, diff in pairs(diff) do
if box[index] + diff > other_box[index + 3] or other_box[index] > box[index + 3] + diff then