Rot3d

gistfile1.txt

package com.thevoxelbox.voxelsniper.util;

public class Rot3d
{
	double[][] r = new double[3][3];

	public Rot3d(double u, double v, double w)
	{
		double cos1 = Math.cos(u);
		double sin1 = Math.sin(u);
		
		double cos2 = Math.cos(v);
		double sin2 = Math.sin(v);
		
		double cos3 = Math.cos(w);
		double sin3 = Math.sin(w);
		
		r[0][0] = cos1*cos2;
		r[0][1] = sin1*sin3 - cos1*cos3*sin2;
		r[0][2] = cos3*sin1 + cos1*sin2*sin3;
		r[1][0] = sin2;
		r[1][1] = cos2*cos3;
		r[1][2] = -cos2*sin3;
		r[2][0] = -cos2*sin1;
		r[2][1] = cos1*sin3 + cos3*sin1*sin2;
		r[2][2] = cos1*cos3 - sin1*sin2*sin3;
		
	}

	public double[] doRotation(double x, double y, double z)
	{
		double[] p = new double[3];
		p[0] = r[0][0] * x + r[0][1] * y + r[0][2] * z;
		p[1] = r[1][0] * x + r[1][1] * y + r[1][2] * z;
		p[2] = r[2][0] * x + r[2][1] * y + r[2][2] * z;
		return p;
	}

	public double[] doRotation(double[] xyz)
	{
		double[] p = new double[3];
		p[0] = r[0][0] * xyz[0] + r[0][1] * xyz[1] + r[0][2] * xyz[2];
		p[1] = r[1][0] * xyz[0] + r[1][1] * xyz[1] + r[1][2] * xyz[2];
		p[2] = r[2][0] * xyz[0] + r[2][1] * xyz[1] + r[2][2] * xyz[2];
		return p;
	}
}