// -1
// V'=q*V*q ,
public void Rotate(Point3d pt)
{
this.Normalise();
Quaternion q1 = this.Copy();
q1.Conjugate();
Quaternion qNode = new Quaternion(0, pt.X, pt.Y, pt.Z);
qNode = this * qNode * q1;
pt.X = qNode.X;
pt.Y = qNode.Y;
pt.Z = qNode.Z;
}
private void RotateNegativeZ(object sender, EventArgs e)
{
cubeZ -= 5;
labelCrZ.Text = cubeZ.ToString();
YLScsDrawing.Drawing3d.Quaternion q = new YLScsDrawing.Drawing3d.Quaternion();
q.FromAxisAngle(new YLScsDrawing.Drawing3d.Vector3d(0, 0, 1), -5 * Math.PI / 180.0);
cub.RotateAt(cub.Center, q);
GetLocalAxis();
Invalidate();
}
private void RotatePositiveX(object sender, EventArgs e)
{
cubeX += 5;
labelCrX.Text = cubeX.ToString();
YLScsDrawing.Drawing3d.Quaternion q = new YLScsDrawing.Drawing3d.Quaternion();
q.FromAxisAngle(new YLScsDrawing.Drawing3d.Vector3d(1, 0, 0), 5 * Math.PI / 180.0);
cub.RotateAt(cub.Center, q);
GetLocalAxis();
Invalidate();
}
public void Rotate(Point3d[] nodes)
{
this.Normalise();
Quaternion q1 = this.Copy();
q1.Conjugate();
for (int i = 0; i < nodes.Length; i++)
{
Quaternion qNode = new Quaternion(0, nodes[i].X, nodes[i].Y, nodes[i].Z);
qNode = this * qNode * q1;
nodes[i].X = qNode.X;
nodes[i].Y = qNode.Y;
nodes[i].Z = qNode.Z;
}
}
public void Multiply(Quaternion q)
{
this *= q;
}
static Quaternion new_rotate_euler(double heading, double attitude, double bank)
{
Quaternion Q = new Quaternion();
double c1 = Math.Cos(heading / 2);
double s1 = Math.Sin(heading / 2);
double c2 = Math.Cos(attitude / 2);
double s2 = Math.Sin(attitude / 2);
double c3 = Math.Cos(bank / 2);
double s3 = Math.Sin(bank / 2);
Q.W = c1 * c2 * c3 - s1 * s2 * s3;
Q.X = s1 * s2 * c3 + c1 * c2 * s3;
Q.Y = s1 * c2 * c3 + c1 * s2 * s3;
Q.Z = c1 * s2 * c3 - s1 * c2 * s3;
return Q;
}