public NuGenRot3D(NuGenVec3D from, NuGenVec3D to)
{
from.Normalize();
to.Normalize();
double cost =
NuGenVec3D.Dot(from, to) /
Math.Sqrt(NuGenVec3D.Dot(from, to) * NuGenVec3D.Dot(to, to));
if (cost > 0.99999)
{
r = 1;
v = new NuGenVec3D(0, 0, 0);
}
else if (cost < -0.99999)
{
NuGenVec3D frm = from.Normalized;
v = NuGenVec3D.Cross(frm, NuGenVec3D.UnitX);
if (v.Length < 0.00001)
{
v = NuGenVec3D.Cross(frm, NuGenVec3D.UnitY);
}
r = 0;
v.Normalize();
}
else
{
r = Math.Sqrt(0.5 * (1.0 + cost));
v = NuGenVec3D.Cross(from, to);
v *= Math.Sqrt((0.5 * (1.0 - cost)) / NuGenVec3D.Dot(v, v));
}
}
public NuGenRot3D(NuGenVec3D from, NuGenVec3D to)
{
from.Normalize();
to.Normalize();
double cost =
NuGenVec3D.Dot(from, to) /
Math.Sqrt(NuGenVec3D.Dot(from, to) * NuGenVec3D.Dot(to, to));
if (cost > 0.99999)
{
r = 1;
v = new NuGenVec3D(0, 0, 0);
}
else if (cost < -0.99999)
{
NuGenVec3D frm = from.Normalized;
v = NuGenVec3D.Cross(frm, NuGenVec3D.UnitX);
if (v.Length < 0.00001) v = NuGenVec3D.Cross(frm, NuGenVec3D.UnitY);
r = 0;
v.Normalize();
}
else
{
r = Math.Sqrt(0.5 * (1.0 + cost));
v = NuGenVec3D.Cross(from, to);
v *= Math.Sqrt((0.5 * (1.0 - cost))/NuGenVec3D.Dot(v, v));
}
}
public NuGenRot3D(double radians, NuGenVec3D axis)
{
axis.Normalize();
r = Math.Cos(radians / 2.0);
v = axis.Normalized * Math.Sin(radians / 2.0);
}
public NuGenRot3D(double radians, NuGenVec3D axis)
{
axis.Normalize();
r = Math.Cos(radians/2.0);
v = axis.Normalized * Math.Sin(radians/2.0);
}