// Поворот с помощью кватерниона
public TVector RotateByQuaternion(TQuaternion Q)
{
TVector Result = new TVector(Vector);
TQuaternion ResultQ;
TQuaternion vector = new TQuaternion(0, this);
ResultQ = Q.Mult(vector);
ResultQ = ResultQ.Mult(Q.Conjugate());
for (int i = 1; i < 4; i++)
{
Result.Vector[i - 1] = ResultQ.Vec[i];
}
return(Result);
}
// Поворот на угол вокруг оси (через кватернионы)
public TVector RotateByAngleOnAxis(double phi, TVector V)
{
TQuaternion Q = new TQuaternion(phi, V);
Q = Q.Normalization();
TQuaternion ThisVecQ = new TQuaternion(0, Vector[0], Vector[1], Vector[2]);
TQuaternion ResultQ = Q.Mult(ThisVecQ);
ResultQ = ResultQ.Mult(Q.Conjugate());
TVector Result = new TVector(Vector);
for (int i = 1; i < 4; i++)
{
Result.Vector[i - 1] = ResultQ.Vec[i];
}
return(Result);
}