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19 lines
495 B
Plaintext
19 lines
495 B
Plaintext
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function rotate3d_axis_angle(point, axis, angle) {
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var pitch = point[0];
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var yaw = point[1];
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var roll = point[2];
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var s = dsin(angle);
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var c = dcos(angle);
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var t = 1 - c;
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var _x = axis[0];
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var _y = axis[1];
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var _z = axis[2];
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var pitch_prime = pitch * c + _z * s;
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var yaw_prime = yaw * c + (-_z * _x * t + _y * s);
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var roll_prime = roll * c + ( _z * _y * t + _x * s);
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return [ pitch_prime, yaw_prime, roll_prime ];
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}
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