}/// <summary>
/// calculates the effect of this rotation on a point
/// the new point is given by=q * P1 * q'
/// this version does not alter P1 but returns the result.
///
/// for theory see:
/// http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/transforms/index.htm
/// </summary>
/// <param name="point">point to be transformed</param>
/// <returns>translated point</returns>
public sfvec3f getTransform(sfvec3f p1)
{
double wh = angle;
double xh = x;
double yh = y;
double zh = z;
if (coding == (int)cde.CODING_AXISANGLE)
{
double s = Math.Sin(angle / 2);
xh = x * s;
yh = y * s;
zh = z * s;
wh = Math.Cos(angle / 2);
}
sfvec3f p2 = new sfvec3f();
p2.x = wh * wh * p1.x + 2 * yh * wh * p1.z - 2 * zh * wh * p1.y + xh * xh * p1.x + 2 * yh * xh * p1.y + 2 * zh * xh * p1.z - zh * zh * p1.x - yh * yh * p1.x;
p2.y = 2 * xh * yh * p1.x + yh * yh * p1.y + 2 * zh * yh * p1.z + 2 * wh * zh * p1.x - zh * zh * p1.y + wh * wh * p1.y - 2 * xh * wh * p1.z - xh * xh * p1.y;
p2.z = 2 * xh * zh * p1.x + 2 * yh * zh * p1.y + zh * zh * p1.z - 2 * wh * yh * p1.x - yh * yh * p1.z + 2 * wh * xh * p1.y - xh * xh * p1.z + wh * wh * p1.z;
return p2;
}/// <summary>
}/// <summary>
/// calculates the effect of this rotation on a point
/// the new point is given by=q * P1 * q'
/// this version returns the result in p1
///
/// for theory see:
/// http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/transforms/index.htm
/// </summary>
/// <param name="point">point to be transformed</param>
public void transform(sfvec3f p1)
{
double wh = angle;
double xh = x;
double yh = y;
double zh = z;
if (coding == (int)cde.CODING_AXISANGLE)
{
double s = Math.Sin(angle / 2);
xh = x * s;
yh = y * s;
zh = z * s;
wh = Math.Cos(angle / 2);
}
double resultx = wh * wh * p1.x + 2 * yh * wh * p1.z - 2 * zh * wh * p1.y + xh * xh * p1.x + 2 * yh * xh * p1.y + 2 * zh * xh * p1.z - zh * zh * p1.x - yh * yh * p1.x;
double resulty = 2 * xh * yh * p1.x + yh * yh * p1.y + 2 * zh * yh * p1.z + 2 * wh * zh * p1.x - zh * zh * p1.y + wh * wh * p1.y - 2 * xh * wh * p1.z - xh * xh * p1.y;
double resultz = 2 * xh * zh * p1.x + 2 * yh * zh * p1.y + zh * zh * p1.z - 2 * wh * yh * p1.x - yh * yh * p1.z + 2 * wh * xh * p1.y - xh * xh * p1.z + wh * wh * p1.z;
p1.x = resultx;
p1.y = resultx;
p1.z = resultx;
}/// <summary>
/// calculates the effect of this rotation on a point
/// the new point is given by=q * P1 * q'
/// this version returns the result in p1
///
/// for theory see:
/// http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/transforms/index.htm
/// </summary>
/// <param name="point">point to be transformed</param>
public void transform(sfvec3f p1)
{
double wh = angle;
double xh = x;
double yh = y;
double zh = z;
if (coding == (int)cde.CODING_AXISANGLE)
{
double s = Math.Sin(angle / 2);
xh = x * s;
yh = y * s;
zh = z * s;
wh = Math.Cos(angle / 2);
}
double resultx = wh * wh * p1.x + 2 * yh * wh * p1.z - 2 * zh * wh * p1.y + xh * xh * p1.x + 2 * yh * xh * p1.y + 2 * zh * xh * p1.z - zh * zh * p1.x - yh * yh * p1.x;
double resulty = 2 * xh * yh * p1.x + yh * yh * p1.y + 2 * zh * yh * p1.z + 2 * wh * zh * p1.x - zh * zh * p1.y + wh * wh * p1.y - 2 * xh * wh * p1.z - xh * xh * p1.y;
double resultz = 2 * xh * zh * p1.x + 2 * yh * zh * p1.y + zh * zh * p1.z - 2 * wh * yh * p1.x - yh * yh * p1.z + 2 * wh * xh * p1.y - xh * xh * p1.z + wh * wh * p1.z;
p1.x = resultx;
p1.y = resultx;
p1.z = resultx;
}
/// calculates the effect of this rotation on a point
/// the new point is given by=q * P1 * q'
/// this version does not alter P1 but returns the result.
///
/// for theory see:
/// http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/transforms/index.htm
/// </summary>
/// <param name="point">point to be transformed</param>
/// <returns>translated point</returns>
public sfvec3f getTransform(sfvec3f p1)
{
double wh = angle;
double xh = x;
double yh = y;
double zh = z;
if (coding == (int)cde.CODING_AXISANGLE)
{
double s = Math.Sin(angle / 2);
xh = x * s;
yh = y * s;
zh = z * s;
wh = Math.Cos(angle / 2);
}
sfvec3f p2 = new sfvec3f();
p2.x = wh * wh * p1.x + 2 * yh * wh * p1.z - 2 * zh * wh * p1.y + xh * xh * p1.x + 2 * yh * xh * p1.y + 2 * zh * xh * p1.z - zh * zh * p1.x - yh * yh * p1.x;
p2.y = 2 * xh * yh * p1.x + yh * yh * p1.y + 2 * zh * yh * p1.z + 2 * wh * zh * p1.x - zh * zh * p1.y + wh * wh * p1.y - 2 * xh * wh * p1.z - xh * xh * p1.y;
p2.z = 2 * xh * zh * p1.x + 2 * yh * zh * p1.y + zh * zh * p1.z - 2 * wh * yh * p1.x - yh * yh * p1.z + 2 * wh * xh * p1.y - xh * xh * p1.z + wh * wh * p1.z;
return p2;
}
