/// <summary>
/// Initializes a new instance from a <see cref="UnitQuaternion"/>.
/// </summary>
/// <param name="quaternion">The quaternion.</param>
public Matrix3By3(UnitQuaternion quaternion)
{
double x2 = quaternion.X * quaternion.X;
double xy = quaternion.X * quaternion.Y;
double xz = quaternion.X * quaternion.Z;
double xw = quaternion.X * quaternion.W;
double y2 = quaternion.Y * quaternion.Y;
double yz = quaternion.Y * quaternion.Z;
double yw = quaternion.Y * quaternion.W;
double z2 = quaternion.Z * quaternion.Z;
double zw = quaternion.Z * quaternion.W;
double w2 = quaternion.W * quaternion.W;
m_m11 = x2 - y2 - z2 + w2;
m_m12 = 2.0 * (xy + zw);
m_m13 = 2.0 * (xz - yw);
m_m21 = 2.0 * (xy - zw);
m_m22 = -x2 + y2 - z2 + w2;
m_m23 = 2.0 * (yz + xw);
m_m31 = 2.0 * (xz + yw);
m_m32 = 2.0 * (yz - xw);
m_m33 = -x2 - y2 + z2 + w2;
}
/// <summary>
/// Writes a value for the <c>rotation</c> property as a <c>unitQuaternion</c> value. The <c>rotation</c> property specifies the rotation to apply to the model node. If not specified, the default value is [0.0, 0.0, 0.0, 1.0].
/// </summary>
/// <param name="value">The value.</param>
public void WriteRotationProperty(UnitQuaternion value)
{
using (var writer = OpenRotationProperty())
{
writer.WriteUnitQuaternion(value);
}
}
/// <summary>
/// Writes the value expressed as a <code>unitQuaternion</code>, which is the rotation specified as a 4-dimensional unit magnitude quaternion, specified as `[X, Y, Z, W]`.
/// </summary>
/// <param name="value">The value.</param>
public void WriteUnitQuaternion(UnitQuaternion value)
{
const string PropertyName = UnitQuaternionPropertyName;
OpenIntervalIfNecessary();
Output.WritePropertyName(PropertyName);
CesiumWritingHelper.WriteUnitQuaternion(Output, value);
}
public Cartesian Rotate(UnitQuaternion rotation)
{
double w = rotation.W;
double difference = w * w - rotation.X * rotation.X - rotation.Y * rotation.Y - rotation.Z * rotation.Z;
double dot = m_x * rotation.X + m_y * rotation.Y + m_z * rotation.Z;
return(new Cartesian(difference * m_x + 2.0 * (w * (m_y * rotation.Z - m_z * rotation.Y) + dot * rotation.X),
difference * m_y + 2.0 * (w * (m_z * rotation.X - m_x * rotation.Z) + dot * rotation.Y),
difference * m_z + 2.0 * (w * (m_x * rotation.Y - m_y * rotation.X) + dot * rotation.Z)));
}
