//I got this method for rotating around an arbitary axis from the
//GLspec15.pdf. (page number 42 in the image, page 55 of the pdf file)
//IMPORTANT!!! The angle 'radians' is in the direction of the
//"finger curl of the right hand rule" around the vector {x,y,z}
//------------------------------------------------------------------------------------------
public void RotateAnyAxis(float radians, IVector3H1 axisUnitVector) //unitize Axis first!!!!!
{
//but remember the cross product of 2 unit vectors is only a unit vector if the original 2 vectors are @ 90degrees .....
///................... should I go ahead & always run the unit calculation here for safety?
///maybe not b/c in FlightSimulator I pretty much always unit-ize the vectors before haand
//double myAxis[3] = {Axis.vect[0], Axis.vect[1], Axis.vect[2]};
//int mySize = 3;
//UnitVOfArray(myAxis, mySize);
Matrix3X3 S = new Matrix3X3();
S.Data[0, 0] = 0;
S.Data[0, 1] = -axisUnitVector.Z;
S.Data[0, 2] = axisUnitVector.Y;
S.Data[1, 0] = axisUnitVector.Z;
S.Data[1, 1] = 0;
S.Data[1, 2] = -axisUnitVector.X;
S.Data[2, 0] = -axisUnitVector.Y;
S.Data[2, 1] = axisUnitVector.X;
S.Data[2, 2] = 0;
Matrix3X3 outter = (Matrix3X3)Vector3H1.OutterProduct(axisUnitVector, axisUnitVector);
Matrix3X3 Id = new Matrix3X3();
Id.SetIdentity();
//I'm not sure what to do about this error - may be necessary to have different interfaces for Matrix3H4 & Matrix4X4.....
IMatrix3D Result = outter + ((float)Math.Cos(radians)) * (Id - outter) + ((float)Math.Sin(radians)) * S;
//Manually copy for maximum speed
this.Data[0, 0] = Result.Data[0, 0]; this.Data[0, 1] = Result.Data[0, 1]; this.Data[0, 2] = Result.Data[0, 2]; this.Data[0, 3] = 0;
this.Data[1, 0] = Result.Data[1, 0]; this.Data[1, 1] = Result.Data[1, 1]; this.Data[1, 2] = Result.Data[1, 2]; this.Data[1, 3] = 0;
this.Data[2, 0] = Result.Data[2, 0]; this.Data[2, 1] = Result.Data[2, 1]; this.Data[2, 2] = Result.Data[2, 2]; this.Data[2, 3] = 0;
//this.Copy(Result); //replaces current value of calling matrix //forces bottom row & last col to be all 0s
}
//Can only be done in Square Matricies unless you allow for arbitary rows and columns which is not yet supported
public void SetTranspose()
{
IMatrix3D Transpose = this.GetTranspose();
this.Copy(Transpose);
}
public Matrix3H4(IMatrix3D OtherMatrix) //copy constructor
{
Data = new float[3, 4];
this.Copy(OtherMatrix);
}
public Matrix4X4(IMatrix3D OtherMatrix) //copy constructor
{
Data = new float[4, 4];
this.Copy(OtherMatrix);
Data[3, 3] = 1; //homogenous
}
