SGU 265 Wizards(三维空间一点绕向量旋转)

题目链接：http://acm.sgu.ru/problem.php?contest=0&problem=265

题意：给出点，经过平移、伸缩、旋转。求最后位置。

思路：主要是点绕向量的旋转。首先，求出点P到向量Q的投影向量temp，P=P-temp得到P垂直Q，M=Q*P得到M垂直Q，此时PM面垂直向量Q。将M调整与P一样长。最后答案为P*cos(x)+M*sin(x)+temp。

class Point
{
public:
    double x,y,z;

    Point()
    {
        x=y=z=0;
    }
    Point(double _x,double _y,double _z)
    {
        x=_x;
        y=_y;
        z=_z;
    }

    void read()
    {
        RD(x,y,z);
    }

    Point operator*(Point a)
    {
        return Point(y*a.z-a.y*z,z*a.x-a.z*x,x*a.y-a.x*y);
    }

    Point operator*(double t)
    {
        return Point(x*t,y*t,z*t);
    }

    double operator^(Point a)
    {
        return x*a.x+y*a.y+z*a.z;
    }

    Point operator+(Point a)
    {
        return Point(x+a.x,y+a.y,z+a.z);
    }

    Point operator-(Point a)
    {
        return Point(x-a.x,y-a.y,z-a.z);
    }

    Point scaling(double a,double b,double c)
    {
        return Point(x*a,y*b,z*c);
    }

    double getLen()
    {
        return sqrt(x*x+y*y+z*z);
    }

    Point adjust(double L)
    {
        double t=getLen();
        L/=t;
        return Point(x*L,y*L,z*L);
    }

    Point rotation(Point Q,double x)
    {
        Point p=*this,temp,m;
        temp=Q*((p^Q)/(Q^Q));
        p=p-temp;
        m=Q*p;
        if(m.getLen()<1e-10) return *this;
        m=m.adjust(p.getLen());
        return p*cos(x)+m*sin(x)+temp;
    }

    void print()
    {
        if(fabs(x)<1e-10) x=0;
        if(fabs(y)<1e-10) y=0;
        if(fabs(z)<1e-10) z=0;
        printf("%lf %lf %lf\n",x,y,z);
    }

};

int n,m;
Point p[4];


int main()
{
    RD(n);
    p[1].x=p[2].y=p[3].z=1;
    char op[10];
    double x,y,z,a;
    int i,j;
    FOR0(i,n)
    {
        RD(op);
        if(op[0]=='T')
        {
            RD(x,y,z);
            p[0]=p[0]+Point(x,y,z);
        }
        else if(op[0]=='S')
        {
            RD(x,y,z);
            FOR0(j,4) p[j]=p[j].scaling(x,y,z);
        }
        else
        {
            RD(x,y,z);
            RD(a);
            a=a/180*PI;
            FOR0(j,4) p[j]=p[j].rotation(Point(x,y,z),a);
        }
    }
    RD(m);
    Point temp;
    while(m--)
    {
        temp.read();
        temp=p[1]*temp.x+p[2]*temp.y+p[3]*temp.z+p[0];
        temp.print();
    }
    return 0;
}