static Vector3D NextOrthogonalVector3D(Vector3D v)
{
var a0 = v.X == 0 ? Rotation3DHelper.UnitX : new Vector3D(v.Y, -v.X, 0);
a0.Normalize();
var angle = RandomHelper.NextDouble(-π, π);
var q = Rotation3DHelper.CreateQuaternionInRadians(v, angle);
return(a0.Multiply(q));
}
static Quaternion NextQuaternion() => Rotation3DHelper.CreateQuaternionInRadians(
new Vector3D(RandomHelper.NextDouble(-1, 1), RandomHelper.NextDouble(-1, 1), RandomHelper.NextDouble(-1, 1)),
RandomHelper.NextDouble(-7, 7));