public KtQuaternion(Angle angle, KtVector3D axis)
{
var c = Angle.Cos(angle / 2);
var s = Angle.Sin(angle / 2);
W = c;
X = s * axis.X;
Y = s * axis.Y;
Z = s * axis.Z;
}
public void RotationTest()
{
var expected = new KtVector3D(2, 3, 4).Normalize();
var initial = new KtVector3D(0, 0, 1);
var angle = expected.AngleBetween(initial);
var perp2 = expected.Cross(initial).Cross(initial).Cross(initial).Normalize();
var q4 = new KtQuaternion(angle, perp2);
var q4p = expected.RotationFrom(initial);
Assert.AreEqual(q4, q4p);
Assert.AreEqual(expected, initial.RotateBy(q4p));
}
public void DotProductTest()
{
var vec1 = new KtVector3D(3, -1, 4);
var yaxis = new KtVector3D(0, 1, 0);
var xaxis = new KtVector3D(1, 0, 0);
var dot = vec1.Cross(yaxis);
var dotx = vec1.Cross(xaxis);
Console.WriteLine(dot);
Console.WriteLine(dotx);
Assert.AreEqual(dot, new KtVector3D(-4, 0, 3));
}
