/// <summary> Sets the value of this axis angle to the value of axis angle a1.</summary>
/// <param name="a1">the axis angle to be copied
/// </param>
public void set_Renamed(AxisAngle4d a1)
{
this.x = a1.x;
this.y = a1.y;
this.z = a1.z;
this.angle = a1.angle;
}
/// <summary> Returns true if the L-infinite distance between this axis-angle
/// and axis-angle a1 is less than or equal to the epsilon parameter,
/// otherwise returns false. The L-infinite
/// distance is equal to
/// MAX[abs(x1-x2), abs(y1-y2), abs(z1-z2), abs(angle1-angle2)].
/// </summary>
/// <param name="a1"> the axis-angle to be compared to this axis-angle
/// </param>
/// <param name="epsilon"> the threshold value
/// </param>
public virtual bool epsilonEquals(AxisAngle4d a1, double epsilon)
{
double diff;
diff = x - a1.x;
if ((diff < 0?-diff:diff) > epsilon)
{
return(false);
}
diff = y - a1.y;
if ((diff < 0?-diff:diff) > epsilon)
{
return(false);
}
diff = z - a1.z;
if ((diff < 0?-diff:diff) > epsilon)
{
return(false);
}
diff = angle - a1.angle;
if ((diff < 0?-diff:diff) > epsilon)
{
return(false);
}
return(true);
}
/// <summary> Constructs and initializes an AxisAngle4d from the specified AxisAngle4d.</summary>
/// <param name="a1">the AxisAngle4d containing the initialization x y z angle data
/// </param>
public AxisAngle4d(AxisAngle4d a1)
{
this.x = a1.x;
this.y = a1.y;
this.z = a1.z;
this.angle = a1.angle;
}
/// <summary> Constructs and initializes an AxisAngle4d from the specified AxisAngle4d.</summary>
/// <param name="a1">the AxisAngle4d containing the initialization x y z angle data
/// </param>
public AxisAngle4d(AxisAngle4d a1)
{
this.x = a1.x;
this.y = a1.y;
this.z = a1.z;
this.angle = a1.angle;
}
/// <summary> Sets the value of this quaternion to the equivalent rotation
/// of the AxisAngle argument.
/// </summary>
/// <param name="a"> the AxisAngle to be emulated
/// </param>
public void set_Renamed(AxisAngle4d a)
{
float mag, amag;
// Quat = cos(theta/2) + sin(theta/2)(roation_axis)
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
amag = (float)(1.0 / System.Math.Sqrt(a.x * a.x + a.y * a.y + a.z * a.z));
if (amag < EPS)
{
w = 0.0f;
x = 0.0f;
y = 0.0f;
z = 0.0f;
}
else
{
amag = 1.0f / amag;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
mag = (float)System.Math.Sin(a.angle / 2.0);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
w = (float)System.Math.Cos(a.angle / 2.0);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
x = (float)a.x * amag * mag;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
y = (float)a.y * amag * mag;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
z = (float)a.z * amag * mag;
}
}
/// <summary> Constructs and initializes an AxisAngle4f from the specified AxisAngle4d.</summary>
/// <param name="a1">the AxisAngle4d containing the initialization x y z angle data
/// </param>
public AxisAngle4f(AxisAngle4d a1)
{
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
this.x = (float)a1.x;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
this.y = (float)a1.y;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
this.z = (float)a1.z;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
this.angle = (float)a1.angle;
}
/// <summary> Returns true if all of the data members of AxisAngle4d a1 are
/// equal to the corresponding data members in this AxisAngle4d.
/// </summary>
/// <param name="a1"> the axis-angle with which the comparison is made
/// </param>
/// <returns> true or false
/// </returns>
public bool equals(AxisAngle4d a1)
{
try
{
return(this.x == a1.x && this.y == a1.y && this.z == a1.z && this.angle == a1.angle);
}
catch (System.NullReferenceException e2)
{
return(false);
}
}
/// <summary> Returns true if the Object o1 is of type AxisAngle4d and all of the
/// data members of o1 are equal to the corresponding data members in
/// this AxisAngle4d.
/// </summary>
/// <param name="o1"> the object with which the comparison is made
/// </param>
/// <returns> true or false
/// </returns>
public override bool Equals(System.Object o1)
{
try
{
AxisAngle4d a2 = (AxisAngle4d)o1;
return(this.x == a2.x && this.y == a2.y && this.z == a2.z && this.angle == a2.angle);
}
catch (System.NullReferenceException e2)
{
return(false);
}
catch (System.InvalidCastException e1)
{
return(false);
}
}
/// <summary> Sets the value of this quaternion to the equivalent rotation
/// of the AxisAngle argument.
/// </summary>
/// <param name="a"> the AxisAngle to be emulated
/// </param>
public void set_Renamed(AxisAngle4d a)
{
double mag, amag;
// Quat = cos(theta/2) + sin(theta/2)(roation_axis)
amag = System.Math.Sqrt(a.x * a.x + a.y * a.y + a.z * a.z);
if (amag < EPS)
{
w = 0.0;
x = 0.0;
y = 0.0;
z = 0.0;
}
else
{
amag = 1.0 / amag;
mag = System.Math.Sin(a.angle / 2.0);
w = System.Math.Cos(a.angle / 2.0);
x = a.x * amag * mag;
y = a.y * amag * mag;
z = a.z * amag * mag;
}
}
/// <summary> Sets the value of this matrix to the matrix conversion of the
/// single precision axis and angle argument.
/// </summary>
/// <param name="a1">the axis and angle to be converted
/// </param>
public void set_Renamed(AxisAngle4d a1)
{
setFromAxisAngle(a1.x, a1.y, a1.z, a1.angle);
}
/// <summary> Sets the value of this matrix to the matrix conversion of the
/// double precision axis and angle argument.
/// </summary>
/// <param name="a1">the axis and angle to be converted
/// </param>
public void set_Renamed(AxisAngle4d a1)
{
double mag = Math.Sqrt(a1.x * a1.x + a1.y * a1.y + a1.z * a1.z);
if (mag < EPS)
{
m00 = 1.0;
m01 = 0.0;
m02 = 0.0;
m10 = 0.0;
m11 = 1.0;
m12 = 0.0;
m20 = 0.0;
m21 = 0.0;
m22 = 1.0;
}
else
{
mag = 1.0 / mag;
double ax = a1.x * mag;
double ay = a1.y * mag;
double az = a1.z * mag;
double sinTheta = Math.Sin(a1.angle);
double cosTheta = Math.Cos(a1.angle);
double t = 1.0 - cosTheta;
double xz = a1.x * a1.z;
double xy = a1.x * a1.y;
double yz = a1.y * a1.z;
m00 = t * ax * ax + cosTheta;
m01 = t * xy - sinTheta * az;
m02 = t * xz + sinTheta * ay;
m10 = t * xy + sinTheta * az;
m11 = t * ay * ay + cosTheta;
m12 = t * yz - sinTheta * ax;
m20 = t * xz - sinTheta * ay;
m21 = t * yz + sinTheta * ax;
m22 = t * az * az + cosTheta;
}
}
/// <summary> Constructs and initializes an AxisAngle4f from the specified AxisAngle4d.</summary>
/// <param name="a1">the AxisAngle4d containing the initialization x y z angle data
/// </param>
public AxisAngle4f(AxisAngle4d a1)
{
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
this.x = (float) a1.x;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
this.y = (float) a1.y;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
this.z = (float) a1.z;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
this.angle = (float) a1.angle;
}
/// <summary> Sets the rotational component (upper 3x3) of this matrix to the matrix
/// equivalent values of the axis-angle argument; the other elements of this
/// matrix are unchanged; a singular value decomposition is performed on
/// this object's upper 3x3 matrix to factor out the scale, then this
/// object's upper 3x3 matrix components are replaced by the matrix
/// equivalent of the axis-angle, and then the scale is reapplied to the
/// rotational components.
/// </summary>
/// <param name="a1">the axis-angle to be converted (x, y, z, angle)
/// </param>
public void setRotation(AxisAngle4d a1)
{
double scale = SVD(null, null);
// save other values
double tx = m03;
double ty = m13;
double tz = m23;
double w0 = m30;
double w1 = m31;
double w2 = m32;
double w3 = m33;
set_Renamed(a1);
mulRotationScale(scale);
// set back
m03 = tx;
m13 = ty;
m23 = tz;
m30 = w0;
m31 = w1;
m32 = w2;
m33 = w3;
}
/// <summary> Sets the value of this quaternion to the equivalent rotation
/// of the AxisAngle argument.
/// </summary>
/// <param name="a"> the AxisAngle to be emulated
/// </param>
public void set_Renamed(AxisAngle4d a)
{
double mag, amag;
// Quat = cos(theta/2) + sin(theta/2)(roation_axis)
amag = System.Math.Sqrt(a.x * a.x + a.y * a.y + a.z * a.z);
if (amag < EPS)
{
w = 0.0;
x = 0.0;
y = 0.0;
z = 0.0;
}
else
{
amag = 1.0 / amag;
mag = System.Math.Sin(a.angle / 2.0);
w = System.Math.Cos(a.angle / 2.0);
x = a.x * amag * mag;
y = a.y * amag * mag;
z = a.z * amag * mag;
}
}
/// <summary> Sets the value of this quaternion to the equivalent rotation
/// of the AxisAngle argument.
/// </summary>
/// <param name="a"> the AxisAngle to be emulated
/// </param>
public void set_Renamed(AxisAngle4d a)
{
float mag, amag;
// Quat = cos(theta/2) + sin(theta/2)(roation_axis)
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
amag = (float) (1.0 / System.Math.Sqrt(a.x * a.x + a.y * a.y + a.z * a.z));
if (amag < EPS)
{
w = 0.0f;
x = 0.0f;
y = 0.0f;
z = 0.0f;
}
else
{
amag = 1.0f / amag;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
mag = (float) System.Math.Sin(a.angle / 2.0);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
w = (float) System.Math.Cos(a.angle / 2.0);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
x = (float) a.x * amag * mag;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
y = (float) a.y * amag * mag;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
z = (float) a.z * amag * mag;
}
}
/// <summary> Sets the value of this axis angle to the value of axis angle a1.</summary>
/// <param name="a1">the axis angle to be copied
/// </param>
public void set_Renamed(AxisAngle4d a1)
{
this.x = a1.x;
this.y = a1.y;
this.z = a1.z;
this.angle = a1.angle;
}
/// <summary> Returns true if the L-infinite distance between this axis-angle
/// and axis-angle a1 is less than or equal to the epsilon parameter,
/// otherwise returns false. The L-infinite
/// distance is equal to
/// MAX[abs(x1-x2), abs(y1-y2), abs(z1-z2), abs(angle1-angle2)].
/// </summary>
/// <param name="a1"> the axis-angle to be compared to this axis-angle
/// </param>
/// <param name="epsilon"> the threshold value
/// </param>
public virtual bool epsilonEquals(AxisAngle4d a1, double epsilon)
{
double diff;
diff = x - a1.x;
if ((diff < 0?- diff:diff) > epsilon)
return false;
diff = y - a1.y;
if ((diff < 0?- diff:diff) > epsilon)
return false;
diff = z - a1.z;
if ((diff < 0?- diff:diff) > epsilon)
return false;
diff = angle - a1.angle;
if ((diff < 0?- diff:diff) > epsilon)
return false;
return true;
}
/// <summary> Returns true if all of the data members of AxisAngle4d a1 are
/// equal to the corresponding data members in this AxisAngle4d.
/// </summary>
/// <param name="a1"> the axis-angle with which the comparison is made
/// </param>
/// <returns> true or false
/// </returns>
public bool equals(AxisAngle4d a1)
{
try
{
return (this.x == a1.x && this.y == a1.y && this.z == a1.z && this.angle == a1.angle);
}
catch (System.NullReferenceException e2)
{
return false;
}
}
