public void Set(Coordinate offsets)
{
Distance = offsets.VectorMagnitude();
if (Distance == 0)
{
X = Y = Z = 0;
}
else
{
X = offsets.X / Distance;
Y = offsets.Y / Distance;
Z = offsets.Z / Distance;
}
}
public static Quaternion AxisAngle(Coordinate axis, decimal angle)
{
return(axis.VectorMagnitude() == 0
? Identity
: new Quaternion(axis.Normalise() * DMath.Sin(angle / 2), DMath.Cos(angle / 2)).Normalise());
}
