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Update affine_rotate to support all axes.

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Arthur Moore 2024-04-17 21:51:37 -04:00
parent 574d9dc6b1
commit 20492634d8
1 changed files with 28 additions and 10 deletions
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38
generic-helpers.scad
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@ -71,18 +71,36 @@ function vector_as_unit(vector) = vector / vector_magnitude(vector);
*/
function atanv(vector) = atan2(vector.y, vector.x);
/**
* @brief Affine transformation matrix for 2d rotation on the X,Y plane.
* @param angle The angle to rotate things by
* @returns an Affine transformation matrix for use with `multmatrix()`
*/
function affine_rotation(angle) = [
[cos(angle), 0, sin(angle), 0],
[0, 1, 0, 0],
[-sin(angle), 0, cos(angle), 0],
function _affine_rotate_x(angle_x) = [
[1, 0, 0, 0],
[0, cos(angle_x), -sin(angle_x), 0],
[0, sin(angle_x), cos(angle_x), 0],
[0, 0, 0, 1]
];
function _affine_rotate_y(angle_y) = [
[cos(angle_y), 0, sin(angle_y), 0],
[0, 1, 0, 0],
[-sin(angle_y), 0, cos(angle_y), 0],
[0, 0, 0, 1]
];
function _affine_rotate_z(angle_z) = [
[cos(angle_z), -sin(angle_z), 0, 0],
[sin(angle_z), cos(angle_z), 0, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]
];
/**
* @brief Affine transformation matrix equivalent of `rotate`
* @param angle_vector @see `rotate`
* @details Equivalent to `rotate([0, angle, 0])`
* @returns An affine transformation matrix for use with `multmatrix()`
*/
function affine_rotate(angle_vector) =
_affine_rotate_z(angle_vector.z) * _affine_rotate_y(angle_vector.y) * _affine_rotate_x(angle_vector.x);
/**
* @brief Affine transformation matrix for 2d translation on the X,Y plane.
@ -150,7 +168,7 @@ module sweep_rounded(width=10, length=10) {
walls = [
for (i = [0 : len(path_vectors) - 1])
affine_matrix * affine_translations[i]
* affine_rotation(atanv(path_vectors[i]))
* affine_rotate([0, atanv(path_vectors[i]), 0])
];
union()