include <../vector/to_ang_vec.scad>
function __v_rotation_xRotation(a) =
    let(c = cos(a), s = sin(a))
    [
        [1, 0,  0],
        [0, c, -s],
        [0, s,  c],
    ];

function __v_rotation_yRotation(a) =
    let(c = cos(a), s = sin(a))
    [
        [ c, 0, s],
        [ 0, 1, 0],
        [-s, 0, c],
    ];

function __v_rotation_zRotation(a) =
    let(c = cos(a), s = sin(a))
    [
        [c, -s, 0],
        [s, c, 0],
        [0, 0, 1],
    ];

function __v_rotation_xyz_rotation(a) =
    let(ang = to_ang_vec(a))
    __v_rotation_zRotation(ang[2]) * __v_rotation_yRotation(ang[1]) * __v_rotation_xRotation(ang[0]);

function _v_rotation_impl(a) =
    (a == 0 || a == [0, 0, 0] || a == [0] || a == [0, 0]) ? [
        [1, 0, 0],
        [0, 1, 0],
        [0, 0, 1],
    ] : __v_rotation_xyz_rotation(a);

function v_rotation(a) = _v_rotation_impl(a);
function v_rot(a) = _v_rotation_impl(a);



function zero_axis(x,p,v=0) = [x!="x"?p[0]:v, x!="y"?p[1]:v,x!="z"?p[2]:v];