44 lines
1.5 KiB
OpenSCAD
44 lines
1.5 KiB
OpenSCAD
use <so3.scad>
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function val(a=undef,default=undef) = a == undef ? default : a;
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function vec_is_undef(x,index_=0) = index_ >= len(x) ? true :
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is_undef(x[index_]) && vec_is_undef(x,index_+1);
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function is_undef(x) = len(x) > 0 ? vec_is_undef(x) : x == undef;
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// Either a or b, but not both
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function either(a,b,default=undef) = is_undef(a) ? (is_undef(b) ? default : b) : is_undef(b) ? a : undef;
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function translationv(left=undef,right=undef,up=undef,down=undef,forward=undef,backward=undef,translation=undef) =
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translationv_2(
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x = either(up,-down),
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y = either(right,-left),
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z = either(forward,-backward),
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translation = translation);
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function translationv_2(x,y,z,translation) =
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x == undef && y == undef && z == undef ? translation :
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is_undef(translation) ? [val(x,0),val(y,0),val(z,0)]
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: undef;
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function rotationv(pitch=undef,yaw=undef,roll=undef,rotation=undef) =
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rotation == undef ? [val(yaw,0),val(pitch,0),val(roll,0)] :
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pitch == undef && yaw == undef && roll == undef ? rotation :
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undef;
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function trajectory(
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left=undef, right=undef,
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up=undef, down=undef,
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forward=undef, backward=undef,
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translation=undef,
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pitch=undef,
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yaw=undef,
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roll=undef,
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rotation=undef
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) = concat(
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translationv(left=left,right=right,up=up,down=down,forward=forward,backward=backward,translation=translation),
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rotationv(pitch=pitch,yaw=yaw,roll=roll,rotation=rotation)
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);
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function rotationm(rotation=undef,pitch=undef,yaw=undef,roll=undef) = so3_exp(rotationv(rotation=rotation,pitch=pitch,yaw=yaw,roll=roll));
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