/// <summary>
/// This method rotates a the vector v arount the vector-axis n by degree degrees.
/// </summary>
/// <param name="n">axis to rotate around</param>
/// <param name="degree">rotation in degrees</param>
/// <param name="v">vector to rotate</param>
/// <returns></returns>
static public VectorRAZ RotateVector(VectorRAZ n, double degree, VectorRAZ v)
{
double rad = System.Math.PI * (degree / 180.0);
//n should be converted to a unit-vector
n = n.Unitize();
//Rodrigues' rotation formula
VectorRAZ p1 = VecScalMultiply(v, System.Math.Cos(rad));
VectorRAZ p2 = VecScalMultiply(VecScalMultiply(n, DotProduct(v, n)), (1.0 - System.Math.Cos(rad)));
VectorRAZ p3 = VecScalMultiply(CrossProduct(n, v), System.Math.Sin(rad));
VectorRAZ vector = new VectorRAZ(p1.X + p2.X + p3.X, p1.Y + p2.Y + p3.Y, p1.Z + p2.Z + p3.Z);
return(vector);
}
/// <summary>
/// In this method two vectors are compared with each other. If the unitvector is equal or the inverse is equal, the method will return true.
/// </summary>
/// <param name="tol"></param>
/// <param name="vectorA"></param>
/// <param name="vectorB"></param>
/// <returns></returns>
static public bool AreVectorsEqual(double tol, VectorRAZ vectorA, VectorRAZ vectorB)
{
VectorRAZ a = vectorA.Unitize();
VectorRAZ b = vectorB.Unitize();
//same direction
if (Math.Abs(a.X - b.X) < tol && Math.Abs(a.Y - b.Y) < tol && Math.Abs(a.Z - b.Z) < tol)
{
return(true);
}
//opposite direction
if (Math.Abs(a.X + b.X) < tol && Math.Abs(a.Y + b.Y) < tol && Math.Abs(a.Z + b.Z) < tol)
{
return(true);
}
else
{
return(false);
}
}
