public Vector3 rotate(Common.Rotation rotation)
{
double tmp;
switch (rotation)
{
case Common.Rotation.ROTATION_NONE:
case Common.Rotation.ROTATION_MAX:
return(this);
case Common.Rotation.ROTATION_YAW_45:
{
tmp = HALF_SQRT_2 * (x - y);
y = HALF_SQRT_2 * (x + y);
x = tmp;
return(this);
}
case Common.Rotation.ROTATION_YAW_90:
{
tmp = x;
x = -y;
y = tmp;
return(this);
}
case Common.Rotation.ROTATION_YAW_135:
{
tmp = -HALF_SQRT_2 * (x + y);
y = HALF_SQRT_2 * (x - y);
x = tmp;
return(this);
}
case Common.Rotation.ROTATION_YAW_180:
x = -x;
y = -y;
return(this);
case Common.Rotation.ROTATION_YAW_225:
{
tmp = HALF_SQRT_2 * (y - x);
y = -HALF_SQRT_2 * (x + y);
x = tmp;
return(this);
}
case Common.Rotation.ROTATION_YAW_270:
{
tmp = x;
x = y;
y = -tmp;
return(this);
}
case Common.Rotation.ROTATION_YAW_315:
{
tmp = HALF_SQRT_2 * (x + y);
y = HALF_SQRT_2 * (y - x);
x = tmp;
return(this);
}
case Common.Rotation.ROTATION_ROLL_180:
{
y = -y;
z = -z;
return(this);
}
case Common.Rotation.ROTATION_ROLL_180_YAW_45:
{
tmp = HALF_SQRT_2 * (x + y);
y = HALF_SQRT_2 * (x - y);
x = tmp;
z = -z;
return(this);
}
case Common.Rotation.ROTATION_ROLL_180_YAW_90:
{
tmp = x;
x = y;
y = tmp;
z = -z;
return(this);
}
case Common.Rotation.ROTATION_ROLL_180_YAW_135:
{
tmp = HALF_SQRT_2 * (y - x);
y = HALF_SQRT_2 * (y + x);
x = tmp;
z = -z;
return(this);
}
case Common.Rotation.ROTATION_PITCH_180:
{
x = -x;
z = -z;
return(this);
}
case Common.Rotation.ROTATION_ROLL_180_YAW_225:
{
tmp = -HALF_SQRT_2 * (x + y);
y = HALF_SQRT_2 * (y - x);
x = tmp;
z = -z;
return(this);
}
case Common.Rotation.ROTATION_ROLL_180_YAW_270:
{
tmp = x;
x = -y;
y = -tmp;
z = -z;
return(this);
}
case Common.Rotation.ROTATION_ROLL_180_YAW_315:
{
tmp = HALF_SQRT_2 * (x - y);
y = -HALF_SQRT_2 * (x + y);
x = tmp;
z = -z;
return(this);
}
case Common.Rotation.ROTATION_ROLL_90:
{
tmp = z;
z = y;
y = -tmp;
return(this);
}
case Common.Rotation.ROTATION_ROLL_90_YAW_45:
{
tmp = z;
z = y;
y = -tmp;
tmp = HALF_SQRT_2 * (x - y);
y = HALF_SQRT_2 * (x + y);
x = tmp;
return(this);
}
case Common.Rotation.ROTATION_ROLL_90_YAW_90:
{
tmp = z;
z = y;
y = -tmp;
tmp = x;
x = -y;
y = tmp;
return(this);
}
case Common.Rotation.ROTATION_ROLL_90_YAW_135:
{
tmp = z;
z = y;
y = -tmp;
tmp = -HALF_SQRT_2 * (x + y);
y = HALF_SQRT_2 * (x - y);
x = tmp;
return(this);
}
case Common.Rotation.ROTATION_ROLL_270:
{
tmp = z;
z = -y;
y = tmp;
return(this);
}
case Common.Rotation.ROTATION_ROLL_270_YAW_45:
{
tmp = z;
z = -y;
y = tmp;
tmp = HALF_SQRT_2 * (x - y);
y = HALF_SQRT_2 * (x + y);
x = tmp;
return(this);
}
case Common.Rotation.ROTATION_ROLL_270_YAW_90:
{
tmp = z;
z = -y;
y = tmp;
tmp = x;
x = -y;
y = tmp;
return(this);
}
case Common.Rotation.ROTATION_ROLL_270_YAW_135:
{
tmp = z;
z = -y;
y = tmp;
tmp = -HALF_SQRT_2 * (x + y);
y = HALF_SQRT_2 * (x - y);
x = tmp;
return(this);
}
case Common.Rotation.ROTATION_PITCH_90:
{
tmp = z;
z = -x;
x = tmp;
return(this);
}
case Common.Rotation.ROTATION_PITCH_270:
{
tmp = z;
z = x;
x = -tmp;
return(this);
}
}
throw new Exception("Invalid Rotation");
//return this;
}
void rotate(Common.Rotation rotation)
{
double tmp;
switch (rotation)
{
case Common.Rotation.ROTATION_NONE:
case Common.Rotation.ROTATION_MAX:
return;
case Common.Rotation.ROTATION_YAW_45:
{
tmp = HALF_SQRT_2 * (x - y);
y = HALF_SQRT_2 * (x + y);
x = tmp;
return;
}
case Common.Rotation.ROTATION_YAW_90:
{
tmp = x; x = -y; y = tmp;
return;
}
case Common.Rotation.ROTATION_YAW_135:
{
tmp = -HALF_SQRT_2 * (x + y);
y = HALF_SQRT_2 * (x - y);
x = tmp;
return;
}
case Common.Rotation.ROTATION_YAW_180:
x = -x; y = -y;
return;
case Common.Rotation.ROTATION_YAW_225:
{
tmp = HALF_SQRT_2 * (y - x);
y = -HALF_SQRT_2 * (x + y);
x = tmp;
return;
}
case Common.Rotation.ROTATION_YAW_270:
{
tmp = x; x = y; y = -tmp;
return;
}
case Common.Rotation.ROTATION_YAW_315:
{
tmp = HALF_SQRT_2 * (x + y);
y = HALF_SQRT_2 * (y - x);
x = tmp;
return;
}
case Common.Rotation.ROTATION_ROLL_180:
{
y = -y; z = -z;
return;
}
case Common.Rotation.ROTATION_ROLL_180_YAW_45:
{
tmp = HALF_SQRT_2 * (x + y);
y = HALF_SQRT_2 * (x - y);
x = tmp; z = -z;
return;
}
case Common.Rotation.ROTATION_ROLL_180_YAW_90:
{
tmp = x; x = y; y = tmp; z = -z;
return;
}
case Common.Rotation.ROTATION_ROLL_180_YAW_135:
{
tmp = HALF_SQRT_2 * (y - x);
y = HALF_SQRT_2 * (y + x);
x = tmp; z = -z;
return;
}
case Common.Rotation.ROTATION_PITCH_180:
{
x = -x; z = -z;
return;
}
case Common.Rotation.ROTATION_ROLL_180_YAW_225:
{
tmp = -HALF_SQRT_2 * (x + y);
y = HALF_SQRT_2 * (y - x);
x = tmp; z = -z;
return;
}
case Common.Rotation.ROTATION_ROLL_180_YAW_270:
{
tmp = x; x = -y; y = -tmp; z = -z;
return;
}
case Common.Rotation.ROTATION_ROLL_180_YAW_315:
{
tmp = HALF_SQRT_2 * (x - y);
y = -HALF_SQRT_2 * (x + y);
x = tmp; z = -z;
return;
}
case Common.Rotation.ROTATION_ROLL_90:
{
tmp = z; z = y; y = -tmp;
return;
}
case Common.Rotation.ROTATION_ROLL_90_YAW_45:
{
tmp = z; z = y; y = -tmp;
tmp = HALF_SQRT_2 * (x - y);
y = HALF_SQRT_2 * (x + y);
x = tmp;
return;
}
case Common.Rotation.ROTATION_ROLL_90_YAW_90:
{
tmp = z; z = y; y = -tmp;
tmp = x; x = -y; y = tmp;
return;
}
case Common.Rotation.ROTATION_ROLL_90_YAW_135:
{
tmp = z; z = y; y = -tmp;
tmp = -HALF_SQRT_2 * (x + y);
y = HALF_SQRT_2 * (x - y);
x = tmp;
return;
}
case Common.Rotation.ROTATION_ROLL_270:
{
tmp = z; z = -y; y = tmp;
return;
}
case Common.Rotation.ROTATION_ROLL_270_YAW_45:
{
tmp = z; z = -y; y = tmp;
tmp = HALF_SQRT_2 * (x - y);
y = HALF_SQRT_2 * (x + y);
x = tmp;
return;
}
case Common.Rotation.ROTATION_ROLL_270_YAW_90:
{
tmp = z; z = -y; y = tmp;
tmp = x; x = -y; y = tmp;
return;
}
case Common.Rotation.ROTATION_ROLL_270_YAW_135:
{
tmp = z; z = -y; y = tmp;
tmp = -HALF_SQRT_2 * (x + y);
y = HALF_SQRT_2 * (x - y);
x = tmp;
return;
}
case Common.Rotation.ROTATION_PITCH_90:
{
tmp = z; z = -x; x = tmp;
return;
}
case Common.Rotation.ROTATION_PITCH_270:
{
tmp = z; z = x; x = -tmp;
return;
}
}
}
