/// <summary>
/// Determines whether this instance of type <see cref="EulerAngles"/> can be
/// considered equal to another.
/// </summary>
/// <param name="other"> Another set of angles.</param>
/// <param name="precision">Precision of comparison.</param>
/// <returns>
/// True, if difference between components of the angles is less then
/// <paramref name="precision"/>.
/// </returns>
public bool IsEquivalent(EulerAngles other, float precision = MathHelpers.ZeroTolerance)
{
return
(Math.Abs(this.Pitch - other.Pitch) < precision &&
Math.Abs(this.Roll - other.Roll) < precision &&
Math.Abs(this.Yaw - other.Yaw) < precision);
}
/// <summary>
/// Creates new matrix that is set to represent rotation around fixed Axes.
/// </summary>
/// <param name="rad">Angles of rotation.</param>
/// <returns>New matrix.</returns>
public static Matrix33 CreateRotationFromAngles(EulerAngles rad)
{
var matrix = new Matrix33();
matrix.SetRotationFromAngles(rad);
return(matrix);
}
/// <summary>
/// Creates a matrix that represents rotation represented by given Euler angles.
/// </summary>
/// <param name="rad">Angles of rotation.</param>
/// <param name="t"> Optional translation vector.</param>
/// <returns>
/// A new matrix that represents rotation represented by given Euler angles.
/// </returns>
public static Matrix34 CreateRotationWithEulerAngles(EulerAngles rad, Vector3 t = default(Vector3))
{
var matrix = new Matrix34();
matrix.SetRotationWithEulerAngles(rad, t);
return(matrix);
}
/// <summary>
/// Sets this matrix to represent rotation around fixed Axes.
/// </summary>
/// <param name="rad">
/// <see cref="EulerAngles"/> that defines rotations around XYZ.
/// </param>
public void SetRotationFromAngles(EulerAngles rad)
{
double sx, cx; MathHelpers.SinCos(rad.Pitch, out sx, out cx);
double sy, cy; MathHelpers.SinCos(rad.Roll, out sy, out cy);
double sz, cz; MathHelpers.SinCos(rad.Yaw, out sz, out cz);
double sycz = (sy * cz), sysz = (sy * sz);
this.M00 = (float)(cy * cz); this.M01 = (float)(sycz * sx - cx * sz); this.M02 = (float)(sycz * cx + sx * sz);
this.M10 = (float)(cy * sz); this.M11 = (float)(sysz * sx + cx * cz); this.M12 = (float)(sysz * cx - sx * cz);
this.M20 = (float)(-sy); this.M21 = (float)(cy * sx); this.M22 = (float)(cy * cx);
}
/// <summary>
/// Checks equality of this object and given one.
/// </summary>
/// <param name="obj">Given object.</param>
/// <returns>
/// True, if given object is <see cref="EulerAngles"/> equal to this instance,
/// otherwise false.
/// </returns>
public override bool Equals(object obj)
{
if (!(obj is EulerAngles))
{
return(false);
}
EulerAngles o = (EulerAngles)obj;
// ReSharper disable CompareOfFloatsByEqualityOperator
return(o.Pitch == this.Pitch && this.Roll == o.Roll && this.Yaw == o.Yaw);
// ReSharper restore CompareOfFloatsByEqualityOperator
}
/// <summary>
/// Determines whether this instance of type <see cref="EulerAngles"/> can be
/// considered equal to another.
/// </summary>
/// <param name="other"> Another set of angles.</param>
/// <param name="precision">Precision of comparison.</param>
/// <returns>
/// True, if difference between components of the angles is less then
/// <paramref name="precision"/>.
/// </returns>
public bool IsEquivalent(EulerAngles other, float precision = MathHelpers.ZeroTolerance)
{
return
Math.Abs(this.Pitch - other.Pitch) < precision &&
Math.Abs(this.Roll - other.Roll) < precision &&
Math.Abs(this.Yaw - other.Yaw) < precision;
}
/// <summary>
/// Convert three Euler angles to 3x3 matrix (rotation order:XYZ)
/// </summary>
/// <param name="rad">Angles of rotation.</param>
/// <param name="t"> Optional translation vector.</param>
public void SetRotationWithEulerAngles(EulerAngles rad, Vector3 t = default(Vector3))
{
this = new Matrix34(Matrix33.CreateRotationFromAngles(rad));
this.SetTranslation(t);
}