Add vector library

public/possys.js

+/*  Convert sphere coordinate system to rectangular coordinate system
+ *  x = r * sin(theta) * cos(phi)
+ *  y = r * sin(theta) * sin(phi)
+ *  z = r * cos(theta)
+ */
+
+/*  Reverse conversion
+ *  r = sqrt(x*x + y*y + z*z)
+ *  theta = acos(z/r)
+ *  phi = atan(y/x)
+ */
+
+/* A vector library written by 'evanw'; source: https://evanw.github.io/lightgl.js/docs/vector.html */
+
+function Vector(x, y, z) {
+    this.x = x || 0;
+    this.y = y || 0;
+    this.z = z || 0;
+}
+
+Vector.prototype = {
+    negative: function() {
+      return new Vector(-this.x, -this.y, -this.z);
+    },
+    add: function(v) {
+      if (v instanceof Vector) return new Vector(this.x + v.x, this.y + v.y, this.z + v.z);
+      else return new Vector(this.x + v, this.y + v, this.z + v);
+    },
+    subtract: function(v) {
+      if (v instanceof Vector) return new Vector(this.x - v.x, this.y - v.y, this.z - v.z);
+      else return new Vector(this.x - v, this.y - v, this.z - v);
+    },
+    multiply: function(v) {
+      if (v instanceof Vector) return new Vector(this.x * v.x, this.y * v.y, this.z * v.z);
+      else return new Vector(this.x * v, this.y * v, this.z * v);
+    },
+    divide: function(v) {
+      if (v instanceof Vector) return new Vector(this.x / v.x, this.y / v.y, this.z / v.z);
+      else return new Vector(this.x / v, this.y / v, this.z / v);
+    },
+    equals: function(v) {
+      return this.x == v.x && this.y == v.y && this.z == v.z;
+    },
+    dot: function(v) {
+      return this.x * v.x + this.y * v.y + this.z * v.z;
+    },
+    cross: function(v) {
+      return new Vector(
+        this.y * v.z - this.z * v.y,
+        this.z * v.x - this.x * v.z,
+        this.x * v.y - this.y * v.x
+      );
+    },
+    length: function() {
+      return Math.sqrt(this.dot(this));
+    },
+    unit: function() {
+      return this.divide(this.length());
+    },
+    min: function() {
+      return Math.min(Math.min(this.x, this.y), this.z);
+    },
+    max: function() {
+      return Math.max(Math.max(this.x, this.y), this.z);
+    },
+    toAngles: function() {
+      return {
+        theta: Math.atan2(this.z, this.x),
+        phi: Math.asin(this.y / this.length())
+      };
+    },
+    angleTo: function(a) {
+      return Math.acos(this.dot(a) / (this.length() * a.length()));
+    },
+    toArray: function(n) {
+      return [this.x, this.y, this.z].slice(0, n || 3);
+    },
+    clone: function() {
+      return new Vector(this.x, this.y, this.z);
+    },
+    init: function(x, y, z) {
+      this.x = x; this.y = y; this.z = z;
+      return this;
+    }
+};
+
+var distHand = 80;
+var distDrone = 500;
+var origin = Vector(0, 0, 0);
+var posHand = Vector(80, 0, 0);
+var posDrone = Vector(500, 0, 0);
+
+
+function handToDroneDelta(_nextHand){
+    var delta = _nextHand - origin;
+    delta = delta.multiply()
+}
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