/// <summary>
/// lhs 是单位向量
/// angle 是旋转的欧拉角
/// 乘以旋转矩阵
/// Y 轴旋转 x1 = xcosθ + zsinθ, y1=y, z1＝-xsinθ + zcosθ
/// X 轴旋转 x1 = x, y1=ycos - zsin, z1 = ysin + zcos
/// Z 轴旋转 x1 = xcos - ysin, y1=xsin+ycos, z1=z
/// </summary>
/// <param name="lhs"></param>
/// <param name="angle"></param>
/// <returns></returns>
public static F64Vec3 RotateY(F64Vec3 lhs, F64 angle)
{
F64 rad = F64.DegToRad2(angle);
F64 cos = F64.Cos(rad);
F64 sin = F64.Sin(rad);
F64 x = lhs.X * cos + lhs.Z * sin;
F64 y = lhs.Y;
F64 z = -lhs.X * sin + lhs.Z * cos;
return(new F64Vec3(x, y, z));
}
public static F64Vec3 RotateZ(F64Vec3 lhs, F64 angle)
{
//Z 轴旋转 x1 = xcos - ysin, y1=xsin+ycos, z1=z
F64 rad = F64.DegToRad2(angle);
F64 cos = F64.Cos(rad);
F64 sin = F64.Sin(rad);
F64 x = lhs.X * cos - lhs.Y * sin;
F64 y = lhs.X * sin + lhs.Y * cos;
F64 z = lhs.Z;
return(new F64Vec3(x, y, z));
}