/// <summary>
/// Create rotation transform from an axis and rotation
/// </summary>
/// <param name="axis"></param>
/// <param name="radians"></param>
/// <returns></returns>
static public Matrix3D FromRotation(Vector3D axis, float radians)
{
return(Matrix3D.FromRotation(Quaternion.FromAxisAngle(axis, radians)));
}
/// <summary>
/// rotate matrix around an arbitrary axis
/// </summary>
/// <param name="axis"></param>
/// <param name="radians"></param>
public void Rotate(Vector3D axis, float radians)
{
Rotate(Quaternion.FromAxisAngle(axis, radians));
}
/// <summary>
/// Create a quaternion given an axis and a rotation around that axis
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="z"></param>
/// <param name="fRadians"></param>
/// <returns></returns>
static public Quaternion FromAxisAngle(float x, float y, float z, float fRadians)
{
return(Quaternion.FromAxisAngle(Vector3D.FromXYZ(x, y, z), fRadians));
}
