/// <summary>
/// Returns a matrix that can be used to rotate a set of points around the z-axis.
/// </summary>
/// <param name="radians">The amount, in radians, in which to rotate around the z-axis.</param>
/// <returns>The created rotation matrix.</returns>
public static Matrix3D CreateRotationZ(float radians)
{
float s = MathUtility.Sin(radians);
float c = MathUtility.Cos(radians);
return(new Matrix3D(
c, s, 0, 0,
-s, c, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1));
}
public Quaternion(Vector3D axis, float angle)
{
axis.Normalize();
float num2 = angle * 0.5f;
float num = MathUtility.Sin(num2);
float num3 = MathUtility.Cos(num2);
X = axis.X * num;
Y = axis.Y * num;
Z = axis.Z * num;
W = num3;
}
public static Quaternion CreateFromAxisAngle(Vector3D axis, float angle)
{
Quaternion quaternion;
float num2 = angle * 0.5f;
float num = MathUtility.Sin(num2);
float num3 = MathUtility.Cos(num2);
quaternion.X = axis.X * num;
quaternion.Y = axis.Y * num;
quaternion.Z = axis.Z * num;
quaternion.W = num3;
return(quaternion);
}
public static Quaternion CreateFromYawPitchRoll(float yaw, float pitch, float roll)
{
Quaternion quaternion;
float num9 = roll * 0.5f;
float num6 = MathUtility.Sin(num9);
float num5 = MathUtility.Cos(num9);
float num8 = pitch * 0.5f;
float num4 = MathUtility.Sin(num8);
float num3 = MathUtility.Cos(num8);
float num7 = yaw * 0.5f;
float num2 = MathUtility.Sin(num7);
float num = MathUtility.Cos(num7);
quaternion.X = ((num * num4) * num5) + ((num2 * num3) * num6);
quaternion.Y = ((num2 * num3) * num5) - ((num * num4) * num6);
quaternion.Z = ((num * num3) * num6) - ((num2 * num4) * num5);
quaternion.W = ((num * num3) * num5) + ((num2 * num4) * num6);
return(quaternion);
}