public void Recalculate()
{
// TODO: Check.
Vector vt = new Vector();
vt.FillAsVectorProduction(this.v, this.v_);
this.v_.FillAsVectorProduction(vt, this.v);
}
public void Transform(Vector v)
{
float nx = this.a00 * v.x + this.a01 * v.y + this.a02 * v.z;
float ny = this.a10 * v.x + this.a11 * v.y + this.a12 * v.z;
float nz = this.a20 * v.x + this.a21 * v.y + this.a22 * v.z;
v.x = nx; v.y = ny; v.z = nz;
}
public void Fill(Vector v, float a)
{
float sin = (float)Math.Sin(0.5 * a);
this.x = sin * v.x;
this.y = sin * v.y;
this.z = sin * v.z;
this.w = (float)Math.Cos(0.5 * a);
this.UpdateMatrix();
}
public void Fill(Vector v, Vector v1, Vector v2)
{
float cosA = v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
float sinA_2 = (float)Math.Sqrt (0.5 * (1 - cosA));
this.x = v.x * sinA_2;
this.y = v.y * sinA_2;
this.z = v.z * sinA_2;
this.w = (float)Math.Sqrt (0.5 * (1 + cosA));
this.UpdateMatrix();
}
public void Fill(Vector v1, Vector v2)
{
float cosA = v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
float sinA_2 = (float)Math.Sqrt (0.5 * (1 - cosA));
float cosA_2 = (float)Math.Sqrt (0.5 * (1 + cosA));
this.w = cosA_2;
if (this.w != 0) {
this.x = (v1.y * v2.z - v1.z * v2.y);
this.y = (v1.z * v2.x - v1.x * v2.z);
this.z = (v1.x * v2.y - v1.y * v2.x);
float d = sinA_2 / (float)Math.Sqrt (this.x * this.x + this.y * this.y + this.z * this.z);
this.x *= d;
this.y *= d;
this.z *= d;
} else {
this.x = 0;
this.y = 0;
this.z = 1;
}
this.UpdateMatrix();
}
public void FillAsVectorProduction(Vector vi, Vector vj)
{
this.x = vi.y * vj.z - vi.z * vj.y;
this.y = vi.z * vj.x - vi.x * vj.z;
this.z = vi.x * vj.y - vi.y * vj.x;
}
/// <summary>
/// Fills as distinction. this <- (vj - vi)
/// </summary>
/// <param name='vi'> Begin point.</param>
/// <param name='vj'> End point.</param>
public void FillAsDistinction(Vector vi, Vector vj)
{
this.x = vj.x - vi.x;
this.y = vj.y - vi.y;
this.z = vj.z - vi.z;
}
public void Fill(Vector v)
{
this.x = v.x;
this.y = v.y;
this.z = v.z;
}
public void Deduct(Vector v)
{
this.x -= v.x;
this.y -= v.y;
this.z -= v.z;
}
public void Add(Vector v)
{
this.x += v.x;
this.y += v.y;
this.z += v.z;
}
public static float ScalarProduction(Vector vi, Vector vj)
{
return vi.x * vj.x + vi.y * vj.y + vi.z * vj.z;
}
public static float Angle(Vector vi, Vector vj)
{
return (float)Math.Acos(vi.x * vj.x + vi.y * vj.y + vi.z * vj.z);
// return (float)Math.Acos(Vector.ScalarProduction(vi, vj));
}
