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| local Vector3D = require "vector3d" |
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| Matrix3X3 = function(rightX, rightY, rightZ, frontX, frontY, frontZ, upX, upY, upZ) |
| local mt = {} |
| local obj = {} |
| if rightX ~= nil then |
| obj.right = Vector3D(rightX, rightY, rightZ) |
| obj.front = Vector3D(frontX, frontY, frontZ) |
| obj.up = Vector3D(upX, upY, upZ) |
| else |
| obj.right = Vector3D(1, 0, 0) |
| obj.front = Vector3D(0, 1, 0) |
| obj.up = Vector3D(0, 0, 1) |
| end |
|
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| function obj:get() |
| return obj.right.x, obj.right.y, obj.right.z, |
| obj.front.x, obj.front.y, obj.front.z, |
| obj.up.x, obj.up.y, obj.up.z |
| end |
|
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| function obj:vectorMul(v) |
| return Vector3D( |
| self.right.x * v.x + self.front.x * v.y + self.up.x * v.z, |
| self.right.y * v.x + self.front.y * v.y + self.up.y * v.z, |
| self.right.z * v.x + self.front.z * v.y + self.up.z * v.z) |
| end |
|
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| function obj:rotate(v, theta) |
| local tsin, tcos = math.sin(theta), math.cos(theta) |
| local rightX, rightY, rightZ, frontX, frontY, frontZ, upX, upY, upZ |
| |
| rightX = tcos + (1.0 - tcos) * v.x * v.x |
| rightY = (1.0 - tcos) * v.x * v.y - tsin * v.z |
| rightZ = (1.0 - tcos) * v.x * v.z + tsin * v.y |
| |
| frontX = (1.0 - tcos) * v.y * v.x + tsin * v.z |
| frontY = tcos + (1.0 - tcos) * v.y * v.y |
| frontZ = (1.0 - tcos) * v.y * v.z - tsin * v.x |
| |
| upX = (1.0 - tcos) * v.z * v.x - tsin * v.y |
| upY = (1.0 - tcos) * v.z * v.y + tsin * v.x |
| upZ = tcos + (1.0 - tcos) * v.z * v.z |
| return Matrix3X3(rightX, rightY, rightZ, frontX, frontY, frontZ, upX, upY, upZ) * self |
| end |
|
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| obj.vector_mul = obj.vectorMul |
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| |
| function mt:__mul(m) |
| local mat = Matrix3X3() |
| mat.right = self:vectorMul(m.right) |
| mat.front = self:vectorMul(m.front) |
| mat.up = self:vectorMul(m.up) |
| return mat |
| end |
|
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| setmetatable(obj, mt) |
| return obj |
| end |
|
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| return Matrix3X3 |
|
|
