public void Yaw(float angle)
{
LLQuaternion q = new LLQuaternion(angle, zAxis);
LLMatrix3 m = new LLMatrix3(q);
Rotate(m);
if (!xAxis.IsFinite() || !yAxis.IsFinite())
{
throw new Exception("Non-finite in CoordinateFrame.Yaw()");
}
}
public void Rotate(LLMatrix3 m)
{
xAxis = LLVector3.Rot(xAxis, m);
yAxis = LLVector3.Rot(yAxis, m);
Orthonormalize();
if (!IsFinite())
{
throw new Exception("Non-finite in CoordinateFrame.Rotate()");
}
}
public CoordinateFrame(LLVector3 origin, LLMatrix3 rotation)
{
this.origin = origin;
xAxis = rotation[0];
yAxis = rotation[1];
zAxis = rotation[2];
if (!IsFinite())
{
throw new ArgumentException("Non-finite in CoordinateFrame constructor");
}
}
public CoordinateFrame(LLVector3 origin, LLQuaternion rotation)
{
LLMatrix3 m = new LLMatrix3(rotation);
this.origin = origin;
xAxis = m[0];
yAxis = m[1];
zAxis = m[2];
if (!IsFinite())
{
throw new ArgumentException("Non-finite in CoordinateFrame constructor");
}
}
public void Rotate(LLQuaternion q)
{
LLMatrix3 m = new LLMatrix3(q);
Rotate(m);
}
