/// <summary>
/// Constructs a quaternion that will rotate around the given axis
/// by the specified angle. The axis must be a normalized vector.
/// </summary>
/// <param name="axis">The axis to rotate around. Must be normalized.</param>
/// <param name="angle">The angle to rotate, in radians.</param>
public Quatd(Vector3d axis, double angle)
{
#if DEBUG
if (!axis.IsNormalized())
{
throw new ArgumentException("Argument is not normalized", nameof(axis));
}
#endif
double d = axis.Length();
if (d == 0f)
{
x = 0f;
y = 0f;
z = 0f;
w = 0f;
}
else
{
double sinAngle = Mathd.Sin(angle * 0.5f);
double cosAngle = Mathd.Cos(angle * 0.5f);
double s = sinAngle / d;
x = axis.x * s;
y = axis.y * s;
z = axis.z * s;
w = cosAngle;
}
}
public Planed Normalized()
{
double len = _normal.Length();
if (len == 0)
{
return(new Planed(0, 0, 0, 0));
}
return(new Planed(_normal / len, D / len));
}
public Quatd(Vector3d axis, double angle)
{
double d = axis.Length();
double angle_t = angle;
if (d == 0f)
{
x = 0f;
y = 0f;
z = 0f;
w = 0f;
}
else
{
double s = Mathd.Sin(angle_t * 0.5f) / d;
x = axis.x * s;
y = axis.y * s;
z = axis.z * s;
w = Mathd.Cos(angle_t * 0.5f);
}
}
public static Vector4d DirMag(Vector3d v)
{
return(new Vector4d(v.Normalized(), v.Length()));
}