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Vector Rotation

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How would I go about rotating for example the vector 1 0 -1 95 by 0 0 1 45?
I tried making my own function, but that doesn't work properly at all:

--- Code: ---function rotateVector( %a, %b )
{
%alh = getWords( %a, 0, 2 );
%bet = getWords( %b, 0, 2 );
%gam = vectorAdd( %alh, %bet );

%ga = getWord( %gam, 0 );
%gb = getWord( %gam, 1 );
%gc = getWord( %gam, 2 );

if ( %ga > 1 ) %ga -= 2;
if ( %gb > 1 ) %gb -= 2;
if ( %gc > 1 ) %gc -= 2;

if ( %ga < 1 ) %ga += 2;
if ( %gb < 1 ) %gb += 2;
if ( %gc < 1 ) %gc += 2;

return %ga SPC %gb SPC %gc SPC getWord( %a, 0, 3 );
}

--- End code ---

Destiny/Zack0Wack0:

Do you need it in axis form? You can do it with euler angles like so:

--- Code: ---function rotateVector(%a,%b)
{
%pi = 3.141592653589793;
%x = getWord(%a,0);
%y = getWord(%a,1);
%z = getWord(%a,2);
%rotX = getWord(%b,0) * %pi / 180;
%rotY = getWord(%b,1) * %pi / 180;
%rotZ = getWord(%b,2) * %pi / 180;

%x = %x * mCos(%rotZ) - %y * mSin(%rotZ);
%y = %x * mSin(%rotZ) + %y * mCos(%rotZ);
%y = %y * mCos(%rotX) - %z * mSin(%rotX);
%z = %y * mSin(%rotX) + %z * mCos(%rotX);
%z = %z * mCos(%rotY) - %x * mSin(%rotY);
%x = %z * mSin(%rotY) + %x * mCos(%rotY);

return %x SPC %y SPC %z;
}

--- End code ---
If you need the output in axis form, you can convert it between euler and axis angles.

Port:

--- Quote from: Destiny/Zack0Wack0 on December 11, 2011, 12:16:41 AM ---Do you need it in axis form? You can do it with euler angles like so:

--- Code: ---

--- End code ---
If you need the output in axis form, you can convert it between euler and axis angles.

--- End quote ---


--- Code: ---function eulerToAxis(%euler)
{
%euler = VectorScale(%euler,$pi / 180);
%matrix = MatrixCreateFromEuler(%euler);
return getWords(%matrix,3,6);
}

function axisToEuler(%axis)
{
%angleOver2 = getWord(%axis,3) * 0.5;
%angleOver2 = -%angleOver2;
%sinThetaOver2 = mSin(%angleOver2);
%cosThetaOver2 = mCos(%angleOver2);
%q0 = %cosThetaOver2;
%q1 = getWord(%axis,0) * %sinThetaOver2;
%q2 = getWord(%axis,1) * %sinThetaOver2;
%q3 = getWord(%axis,2) * %sinThetaOver2;
%q0q0 = %q0 * %q0;
%q1q2 = %q1 * %q2;
%q0q3 = %q0 * %q3;
%q1q3 = %q1 * %q3;
%q0q2 = %q0 * %q2;
%q2q2 = %q2 * %q2;
%q2q3 = %q2 * %q3;
%q0q1 = %q0 * %q1;
%q3q3 = %q3 * %q3;
%m13 = 2.0 * (%q1q3 - %q0q2);
%m21 = 2.0 * (%q1q2 - %q0q3);
%m22 = 2.0 * %q0q0 - 1.0 + 2.0 * %q2q2;
%m23 = 2.0 * (%q2q3 + %q0q1);
%m33 = 2.0 * %q0q0 - 1.0 + 2.0 * %q3q3;
return mRadToDeg(mAsin(%m23)) SPC mRadToDeg(mAtan(-%m13, %m33)) SPC mRadToDeg(mAtan(-%m21, %m22));
}

function rotateEulerVector(%a,%b)
{
%pi = 3.141592653589793;
%x = getWord(%a,0);
%y = getWord(%a,1);
%z = getWord(%a,2);
%rotX = getWord(%b,0) * %pi / 180;
%rotY = getWord(%b,1) * %pi / 180;
%rotZ = getWord(%b,2) * %pi / 180;

%x = %x * mCos(%rotZ) - %y * mSin(%rotZ);
%y = %x * mSin(%rotZ) + %y * mCos(%rotZ);
%y = %y * mCos(%rotX) - %z * mSin(%rotX);
%z = %y * mSin(%rotX) + %z * mCos(%rotX);
%z = %z * mCos(%rotY) - %x * mSin(%rotY);
%x = %z * mSin(%rotY) + %x * mCos(%rotY);

return %x SPC %y SPC %z;
}

function rotateAxisVector(%a,%b)
{
return eulerToAxis(rotateEulerVector(axisToEuler(%a), axisToEuler(%b)));
}

--- End code ---

Okay, thanks. I'll try that shortly.

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