/// <summary>
/// Translates the shape over a specified vector.
/// </summary>
/// <param name="Translation">A quaternion or a Vector3 object that represents the translation.</param>
public void Translate(My.Quaternion Translation)
{
for (int i = 0; i < currentVertices.Length; i++)
{
currentVertices[i] = new VertexPositionNormalTexture(
(Vector3)(currentVertices[i].Position + Translation),
Vector3.Up, currentVertices[i].TextureCoordinate);
}
Center = (Vector3)(Center + Translation);
}
/// <summary>
/// Sets the default rotation for the RotateDefault() method.
/// </summary>
/// <param name="Axis1">A quaternion or a Vector3 object that represents the first axis. It is assumed that the axis starts at the origin.</param>
/// <param name="RotationAngle1">The angle of rotation around the first axis.</param>
/// <param name="Axis2">A quaternion or a Vector3 object that represents the second axis. It is assumed that the axis starts at the origin.</param>
/// <param name="RotationAngle2">The angle of rotation around the second axis.</param>
/// <param name="Axis3">A quaternion or a Vector3 object that represents the third axis. It is assumed that the axis starts at the origin.</param>
/// <param name="RotationAngle3">The angle of rotation around the third axis.</param>
public void SetDefaultRotation(My.Quaternion Axis1, float RotationAngle1,
My.Quaternion Axis2, float RotationAngle2,
My.Quaternion Axis3, float RotationAngle3)
{
My.Quaternion qRot1 = My.Quaternion.RotationQuaternion(Axis1, RotationAngle1);
My.Quaternion qRot2 = My.Quaternion.RotationQuaternion(Axis2, RotationAngle2);
My.Quaternion qRot3 = My.Quaternion.RotationQuaternion(Axis3, RotationAngle3);
DefaultRotation = qRot3 * qRot2 * qRot1;
}
/// <summary>
/// Rotates the shape around two axises over two specified angles. The rotation is based on quaternions.
/// </summary>
/// <param name="Axis1">A quaternion or a Vector3 object that represents the first axis. It is assumed that the axis starts at the origin.</param>
/// <param name="RotationAngle1">The angle of rotation around the first axis.</param>
/// <param name="Axis2">A quaternion or a Vector3 object that represents the second axis. It is assumed that the axis starts at the origin.</param>
/// <param name="RotationAngle2">The angle of rotation around the second axis.</param>
/// <param name="Axis3">A quaternion or a Vector3 object that represents the third axis. It is assumed that the axis starts at the origin.</param>
/// <param name="RotationAngle3">The angle of rotation around the third axis.</param>
public void RotateComposition(My.Quaternion Axis1, float RotationAngle1,
My.Quaternion Axis2, float RotationAngle2,
My.Quaternion Axis3, float RotationAngle3)
{
My.Quaternion qRot1 = My.Quaternion.RotationQuaternion(Axis1, RotationAngle1);
My.Quaternion qRot2 = My.Quaternion.RotationQuaternion(Axis2, RotationAngle2);
My.Quaternion qRot3 = My.Quaternion.RotationQuaternion(Axis3, RotationAngle3);
My.Quaternion qComb = qRot3 * qRot2 * qRot1; //Quaternion's multiplication is accotiative
My.Quaternion qCombConj = qComb.Conjugate();
for (int i = 0; i < currentVertices.Length; i++)
{
currentVertices[i] = new VertexPositionNormalTexture(
(Vector3)(qComb * currentVertices[i].Position * qCombConj),
Vector3.Up, currentVertices[i].TextureCoordinate);
}
Center = (Vector3)(qComb * Center * qCombConj);
}
/// <summary>
/// Sets the default rotation for the RotateDefault() method.
/// </summary>
/// <param name="Axis">A quaternion or a Vector3 object that represents the axis.</param>
/// <param name="RotationAngle">The angle of rotation around the axis.</param>
public void SetDefaultRotation(My.Quaternion Axis, float RotationAngle)
{
DefaultRotation = My.Quaternion.RotationQuaternion(Axis, RotationAngle);
}
/// <summary>
/// Rotates the shape around an axis over a specified angle. The rotation is based on quaternions.
/// </summary>
/// <param name="Axis">A quaternion or a Vector3 object that represents the axis.</param>
/// <param name="Translation">A quaternion or a Vector3 object that represents the point at which the axis starts.</param>
/// <param name="RotationAngle">The angle of rotation.</param>
public void Rotate(My.Quaternion Axis, My.Quaternion Translation, float RotationAngle)
{
if (RotationAngle == 0) return;
My.Quaternion qRot = My.Quaternion.RotationQuaternion(Axis, RotationAngle);
My.Quaternion qRotConj = qRot.Conjugate();
for (int i = 0; i < currentVertices.Length; i++)
{
currentVertices[i] = new VertexPositionNormalTexture(
(Vector3)(qRot * (currentVertices[i].Position - Translation) * qRotConj + Translation),
Vector3.Up, currentVertices[i].TextureCoordinate);
}
Center = (Vector3)(qRot*(Center - Translation)*qRotConj + Translation);
}
