public Vector4f Rotate(Vector4f axis, float angle)
{
float sinAngle = (float)Math.Sin(-angle);
float cosAngle = (float)Math.Cos(-angle);
return(this.Cross(axis.Mul(sinAngle)).Add( //Rotation on local X
(this.Mul(cosAngle)).Add( //Rotation on local Z
axis.Mul(this.Dot(axis.Mul(1 - cosAngle)))))); //Rotation on local Y
}
public Vector4f Rotate(Vector4f axis, float angle)
{
float sinAngle = (float)Math.Sin(-angle);
float cosAngle = (float)Math.Cos(-angle);
return this.Cross(axis.Mul(sinAngle)).Add( //Rotation on local X
(this.Mul(cosAngle)).Add( //Rotation on local Z
axis.Mul(this.Dot(axis.Mul(1 - cosAngle))))); //Rotation on local Y
}