/// <summary>
/// Calculate the Rotation Matrix on the Y axis for the given angle
/// </summary>
/// <param name="a">Angle</param>
/// <returns>Return the Rotation Matrix</returns>
public static Matrix3D GetYRotationMatrix(double a)
{
// cos a 0 sin a
// 0 1 0
// -sin a 0 cos a
double cos = AngleUtils.Cos(a);
double sin = AngleUtils.Sin(a);
Coordinates3D Row1 = new Coordinates3D(cos, 0, sin);
Coordinates3D Row2 = new Coordinates3D(0, 1, 0);
Coordinates3D Row3 = new Coordinates3D(-sin, 0, cos);
return(new Matrix3D(Row1, Row2, Row3));
}
/// <summary>
/// Calculate the Rotation Matrix on the Z axis for the given angle
/// </summary>
/// <param name="a">Angle</param>
/// <returns>Return the Rotation Matrix</returns>
public static Matrix3D GetZRotationMatrix(double a)
{
// cos a - sin a 0
// sin a cos a 0
// 0 0 1
double cos = AngleUtils.Cos(a);
double sin = AngleUtils.Sin(a);
Coordinates3D Row1 = new Coordinates3D(cos, -sin, 0);
Coordinates3D Row2 = new Coordinates3D(sin, cos, 0);
Coordinates3D Row3 = new Coordinates3D(0, 0, 1);
return(new Matrix3D(Row1, Row2, Row3));
}
/// <summary>
/// Calculate the Rotation Matrix on the X axis for the given angle
/// </summary>
/// <param name="a">Angle</param>
/// <returns>Return the Rotation Matrix</returns>
public static Matrix3D GetXRotationMatrix(double a)
{
// 1 0 0
// 0 cos a - sin a
// 0 sin a cos a
double cos = AngleUtils.Cos(a);
double sin = AngleUtils.Sin(a);
Coordinates3D Row1 = new Coordinates3D(1, 0, 0);
Coordinates3D Row2 = new Coordinates3D(0, cos, -sin);
Coordinates3D Row3 = new Coordinates3D(0, sin, cos);
return(new Matrix3D(Row1, Row2, Row3));
}