public static float GetRotationAngleViaQuaternionsInDegrees(CoordinateSystem move, CoordinateSystem reference)
{
float angleRadians = GetRotationAngleViaQuaternionsInRadians(move, reference);
float angleDegrees = (float)(angleRadians * 180 / Math.PI);
return(angleDegrees);
}
public void Copy(CoordinateSystem other)
{
Transform = other.Transform;
}
public CoordinateSystem(CoordinateSystem other)
{
Transform = other.Transform;
}
/// <summary>
/// Computes the minimal rotation angle required to align the reference coordinate system to other, ignoring the final translation
/// that would be required to merge them.
/// </summary>
/// <param name="move"></param>
/// <param name="reference"></param>
/// <returns></returns>
public static float GetRotationAngleViaQuaternionsInRadians(CoordinateSystem move, CoordinateSystem reference)
{
Quaternion referenceInverse = Quaternion.Inverse(reference.Rotation);
Quaternion moveRelativeToReference = move.Rotation * referenceInverse;
moveRelativeToReference.Normalize();
float angle = (float)Math.Acos(moveRelativeToReference.W) * 2;
if (angle > Math.PI)
{
angle = (float)(angle - 2 * Math.PI);
}
if (angle < -Math.PI)
{
angle = (float)(angle + 2 * Math.PI);
}
Debug.Assert(-Math.PI <= angle && angle <= Math.PI);
return(angle);
}
