private void button4_Click(object sender, EventArgs e)
{
ClearPictureBox();
// Setup Orig Vector
MyVector origVector = new MyVector(9, 0, 0);
DrawVector(origVector, Color.Silver);
MyQuaternion multiRotationQuat = new MyQuaternion(new MyVector(0, 0, 0), Utility3D.GetDegreesToRadians(0));
// Rotate around Z
MyQuaternion anotherRotationQuat = new MyQuaternion(new MyVector(0, 0, 1), Utility3D.GetDegreesToRadians(1));
//List<double> lengths = new List<double>();
for (int outerCntr = 1; outerCntr <= 100000; outerCntr++)
{
//lengths.Add(multiRotationQuat.GetMagnitude());
for (int innerCntr = 1; innerCntr <= 360; innerCntr++)
{
multiRotationQuat = MyQuaternion.Multiply(anotherRotationQuat, multiRotationQuat);
}
//multiRotationQuat.BecomeUnitQuaternion();
}
// Draw the final output
MyVector subRotation = multiRotationQuat.GetRotatedVector(origVector, true);
DrawVector(subRotation, Color.Yellow);
}
private void btnRotationMatrix_Click(object sender, EventArgs e)
{
ClearPictureBox();
// Setup Orig Vector
MyVector origVector = new MyVector(9, 0, 0);
DrawVector(origVector, Color.Silver);
// Rotate around Z
MyQuaternion rotationQuat = new MyQuaternion(new MyVector(0, 0, 1), Utility3D.GetDegreesToRadians(30));
MyVector rotated = rotationQuat.GetRotatedVector(origVector, true);
DrawVector(rotated, Color.Black);
MyMatrix3 rotationMatrix;
for (int cntr = 1; cntr <= 10000000; cntr++)
{
rotationMatrix = rotationQuat.ToMatrix3FromUnitQuaternion();
rotationQuat = null;
rotationQuat = new MyQuaternion();
rotationQuat.FromRotationMatrix(rotationMatrix);
rotationMatrix = null;
}
rotated = rotationQuat.GetRotatedVector(origVector, true);
DrawVector(rotated, Color.DodgerBlue);
rotationQuat.W *= -1;
MyVector rotatedNegated = rotationQuat.GetRotatedVector(origVector, true);
DrawVector(rotatedNegated, Color.Yellow);
}
private void button5_Click(object sender, EventArgs e)
{
// This button tests TorqueBall.OrthonormalizeOrientation
ClearPictureBox();
// Setup Orig Vector
MyVector origVector = new MyVector(9, 0, 0);
DrawVector(origVector, Color.Silver);
// Rotate around Z
MyQuaternion rotationQuat = new MyQuaternion(new MyVector(0, 0, 1), Utility3D.GetDegreesToRadians(30));
MyVector rotated = rotationQuat.GetRotatedVector(origVector, true);
DrawVector(rotated, Color.Black);
MyMatrix3 rotationMatrix = rotationQuat.ToMatrix3FromUnitQuaternion();
// See if this affects the rotation matrix
TorqueBall.OrthonormalizeOrientation(rotationMatrix);
rotationQuat = null;
rotationQuat = new MyQuaternion();
rotationQuat.FromRotationMatrix(rotationMatrix);
rotationMatrix = null;
// Draw the results
rotated = rotationQuat.GetRotatedVector(origVector, true);
DrawVector(rotated, Color.DodgerBlue);
}
private void button3_Click(object sender, EventArgs e)
{
ClearPictureBox();
// Setup Orig Vector
MyVector origVector = new MyVector(9, 0, 0);
DrawVector(origVector, Color.Silver);
#region Single Rotation
// Setup quat to do the whole rotation in one shot
MyQuaternion largeRotationQuat = new MyQuaternion(new MyVector(0, 0, 1), Utility3D.GetDegreesToRadians(90));
MyVector largeRotation = largeRotationQuat.GetRotatedVector(origVector, true);
DrawVector(largeRotation, Color.White);
#endregion
#region Multi Rotations
// Setup quat that holds a 30 degree angle
MyQuaternion multiRotationQuat = new MyQuaternion(new MyVector(0, 0, 1), Utility3D.GetDegreesToRadians(30));
MyVector subRotation = multiRotationQuat.GetRotatedVector(origVector, true);
DrawVector(subRotation, Color.Orange);
// Setup a quat that holds a 1 degree angle
MyQuaternion anotherRotationQuat = new MyQuaternion(new MyVector(0, 0, 1), Utility3D.GetDegreesToRadians(1));
// Apply this to the multi quat 60 times
for (int cntr = 1; cntr <= 60; cntr++)
{
multiRotationQuat = MyQuaternion.Multiply(anotherRotationQuat, multiRotationQuat);
}
// Let's see what happened
subRotation = multiRotationQuat.GetRotatedVector(origVector, true);
DrawVector(subRotation, Color.HotPink);
#endregion
#region Multi Rotations (3D)
/*
* // Rotate around Y
* multiRotationQuat = new MyQuaternion(new MyVector(0, 1, 0), Utility3D.GetDegreesToRadians(90));
*
* // Rotate around X
* anotherRotationQuat = new MyQuaternion(new MyVector(1, 0, 0), Utility3D.GetDegreesToRadians(90));
* multiRotationQuat = MyQuaternion.Multiply(anotherRotationQuat, multiRotationQuat);
*
* // Draw the final output
* subRotation = multiRotationQuat.GetRotatedVector(origVector, true);
* DrawVector(subRotation, Color.Yellow);
*/
#endregion
#region Multi Rotations (Vector3D)
/*
* subRotation = origVector.Clone();
*
* subRotation.RotateAroundAxis(new MyVector(0, 1, 0), Utility3D.GetDegreesToRadians(90));
* subRotation.RotateAroundAxis(new MyVector(1, 0, 0), Utility3D.GetDegreesToRadians(90));
*
* DrawVector(subRotation, Color.Yellow);
*/
#endregion
}
