public static Rot3f Original(V3f from, V3f into)
{
var angle = from.AngleBetween(into);
if (angle < 1e-6f)
{
return(Rot3f.Identity);
}
else if (Constant.PiF - angle < 1e-6f)
{
return(new Rot3f(0, from.AxisAlignedNormal()));
}
else
{
V3f axis = Vec.Cross(from, into).Normalized;
return(Rot3f.Rotation(axis, angle));
}
}
public DistanceRot3f()
{
var rnd = new RandomSystem(1);
A.SetByIndex(i => RndRot(rnd));
angles.SetByIndex(i =>
{
float a = 0;
do
{
a = RndAngle(rnd);
}while (a == 0);
return(a);
});
B.SetByIndex(i =>
{
var r = Rot3f.Rotation(RndAxis(rnd), angles[i]);
return(r * A[i]);
});
}
private static Rot3f RndRot(RandomSystem rnd) => Rot3f.Rotation(RndAxis(rnd), RndAngle(rnd));
