public static Matrix4d buildXRotation(float angle)
{
Matrix4d m = new Matrix4d();
m.rotX(angle);
return(m);
}
public static Matrix4d buildCanonicalOrientationEuclidean(Point4d a, Point4d b)
{
Point4d orientation = new Point4d(b.x - a.x, b.y - a.y, b.z - a.z);
//float r = Mathf.Sqrt(orientation.x * orientation.x + orientation.y * orientation.y + orientation.z * orientation.z);
float theta = Mathf.Atan(orientation.y / orientation.x);
float phi = Mathf.Atan(Mathf.Sqrt(orientation.x * orientation.x + orientation.y * orientation.y) / orientation.z);
Matrix4d rotationMat = new Matrix4d();
rotationMat.rotX(theta);
Matrix4d rotationMatResult = new Matrix4d();
rotationMatResult.rotZ(phi);
rotationMatResult *= rotationMat;
return(rotationMatResult); //TODO: implement
}
