PostGIS  2.1.10dev-r@@SVN_REVISION@@
void vector_rotate ( const POINT3D v1,
const POINT3D v2,
double  angle,
POINT3D n 
)

Rotates v1 through an angle (in radians) within the plane defined by v1/v2, returns the rotated vector in n.

Definition at line 522 of file lwgeodetic.c.

References normalize(), unit_normal(), POINT3D::x, POINT3D::y, and POINT3D::z.

Referenced by test_vector_rotate().

523 {
524  POINT3D u;
525  double cos_a = cos(angle);
526  double sin_a = sin(angle);
527  double uxuy, uyuz, uxuz;
528  double ux2, uy2, uz2;
529  double rxx, rxy, rxz, ryx, ryy, ryz, rzx, rzy, rzz;
530 
531  /* Need a unit vector normal to rotate around */
532  unit_normal(v1, v2, &u);
533 
534  uxuy = u.x * u.y;
535  uxuz = u.x * u.z;
536  uyuz = u.y * u.z;
537 
538  ux2 = u.x * u.x;
539  uy2 = u.y * u.y;
540  uz2 = u.z * u.z;
541 
542  rxx = cos_a + ux2 * (1 - cos_a);
543  rxy = uxuy * (1 - cos_a) - u.z * sin_a;
544  rxz = uxuz * (1 - cos_a) + u.y * sin_a;
545 
546  ryx = uxuy * (1 - cos_a) + u.z * sin_a;
547  ryy = cos_a + uy2 * (1 - cos_a);
548  ryz = uyuz * (1 - cos_a) - u.x * sin_a;
549 
550  rzx = uxuz * (1 - cos_a) - u.y * sin_a;
551  rzy = uyuz * (1 - cos_a) + u.x * sin_a;
552  rzz = cos_a + uz2 * (1 - cos_a);
553 
554  n->x = rxx * v1->x + rxy * v1->y + rxz * v1->z;
555  n->y = ryx * v1->x + ryy * v1->y + ryz * v1->z;
556  n->z = rzx * v1->x + rzy * v1->y + rzz * v1->z;
557 
558  normalize(n);
559 }
void normalize(POINT3D *p)
Normalize to a unit vector.
Definition: lwgeodetic.c:564
double y
Definition: liblwgeom.h:296
double x
Definition: liblwgeom.h:296
double z
Definition: liblwgeom.h:296
void unit_normal(const POINT3D *P1, const POINT3D *P2, POINT3D *normal)
Calculates the unit normal to two vectors, trying to avoid problems with over-narrow or over-wide cas...
Definition: lwgeodetic.c:490

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