// theta is in degrees
public static GraphicsMatrix GetRotationMatrix(double thetaX, double thetaY, double thetaZ)
{
double c = Math.PI / 180;
double radX = c * thetaX;
double radY = c * thetaY;
double radZ = c * thetaZ;
GraphicsMatrix x = new GraphicsMatrix(new double[4, 4] {
{ 1, 0, 0, 0 },
{ 0, Math.Cos(radX), Math.Sin(radX), 0 },
{ 0, -1 * Math.Sin(radX), Math.Cos(radX), 0 },
{ 0, 0, 0, 1 }
});
GraphicsMatrix y = new GraphicsMatrix(new double [4, 4] {
{ Math.Cos(radY), 0, Math.Sin(radY), 0 },
{ 0, 1, 0, 0 },
{ -1 * Math.Sin(radY), 0, Math.Cos(radY), 0 },
{ 0, 0, 0, 1 }
});
GraphicsMatrix z = new GraphicsMatrix(new double[4, 4] {
{ Math.Cos(radZ), Math.Sin(radZ), 0, 0 },
{ -1 * Math.Sin(radZ), Math.Cos(radZ), 0, 0 },
{ 0, 0, 1, 0 },
{ 0, 0, 0, 1 }
});
y.Multiply(x);
z.Multiply(x);
return(x);
}
public void Rotate(GraphicsMatrix rotationMatrix)
{
rotationMatrix.Multiply(this);
}
