Exemple #1
0
        }/// <summary>
        /// calculate total rotation by taking current rotation and then
        /// apply rotation r
        /// 
        /// if both angles are quaternions then this is a multiplication
        /// </summary>
        /// <param name="r"></param>
        public void combine(sfrotation r)
        {
            toQuaternion();
            if (r == null) return;
            double qax = x;
            double qay = y;
            double qaz = z;
            double qaw = angle;
            double qbx;
            double qby;
            double qbz;
            double qbw;

            if (r.coding == (int)cde.CODING_QUATERNION)
            {
                qbx = r.x;
                qby = r.y;
                qbz = r.z;
                qbw = r.angle;
            }
            else
            {
                double s = Math.Sin(r.angle / 2);
                qbx = r.x * s;
                qby = r.y * s;
                qbz = r.z * s;
                qbw = Math.Cos(r.angle / 2);
            }
            // now multiply the quaternions
            angle = qaw * qbw - qax * qbx - qay * qby - qaz * qbz;
            x = qax * qbw + qaw * qbx + qay * qbz - qaz * qby;
            y = qaw * qby - qax * qbz + qay * qbw + qaz * qbx;
            z = qaw * qbz + qax * qby - qay * qbx + qaz * qbw;
            coding = (int)cde.CODING_QUATERNION;
        }/// <summary>
Exemple #2
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 }/// <summary>
 /// copy constructor
 /// </summary>
 /// <param name="in1"></param>
 public sfrotation(sfrotation in1)
 {
     x = (in1 != null) ? in1.x : 0;
     y = (in1 != null) ? in1.y : 0;
     z = (in1 != null) ? in1.z : 1;
     angle = (in1 != null) ? in1.angle : 0;
     coding = (in1 != null) ? in1.coding : (int)cde.CODING_AXISANGLE;
 }/// <summary>
        /// calculate total rotation by taking current rotation and then
        /// apply rotation r
        /// 
        /// if both angles are quaternions then this is a multiplication
        /// </summary>
        /// <param name="r"></param>
        public void combine(sfrotation r)
        {
            toQuaternion();
            if (r == null) return;
            double qax = x;
            double qay = y;
            double qaz = z;
            double qaw = angle;
            double qbx;
            double qby;
            double qbz;
            double qbw;

            if (r.coding == (int)cde.CODING_QUATERNION)
            {
                qbx = r.x;
                qby = r.y;
                qbz = r.z;
                qbw = r.angle;
            }
            else
            {
                double s = Math.Sin(r.angle / 2);
                qbx = r.x * s;
                qby = r.y * s;
                qbz = r.z * s;
                qbw = Math.Cos(r.angle / 2);
            }
            // now multiply the quaternions
            angle = qaw * qbw - qax * qbx - qay * qby - qaz * qbz;
            x = qax * qbw + qaw * qbx + qay * qbz - qaz * qby;
            y = qaw * qby - qax * qbz + qay * qbw + qaz * qbx;
            z = qaw * qbz + qax * qby - qay * qbx + qaz * qbw;
            coding = (int)cde.CODING_QUATERNION;
        }
 /// copy constructor
 /// </summary>
 /// <param name="in1"></param>
 public sfrotation(sfrotation in1)
 {
     x = (in1 != null) ? in1.x : 0;
     y = (in1 != null) ? in1.y : 0;
     z = (in1 != null) ? in1.z : 1;
     angle = (in1 != null) ? in1.angle : 0;
     coding = (in1 != null) ? in1.coding : (int)cde.CODING_AXISANGLE;
 }