public PointPol rotate(Edge direction, double angle, double a, double b, double c)
{
double phi = Math.PI / 360 * angle;
PointPol p = shift(-a, -b, -c);
double x1 = direction.P1.X;
double y1 = direction.P1.Y;
double z1 = direction.P1.Z;
double x2 = direction.P2.X;
double y2 = direction.P2.Y;
double z2 = direction.P2.Z;
double vecx = x2 - x1;
double vecy = y2 - y1;
double vecz = z2 - z1;
double len = Math.Sqrt(vecx * vecx + vecy * vecy + vecz * vecz);
double l = vecx / len;
double m = vecy / len;
double n = vecz / len;
double[,] transfer = new double[4, 4] {
{ l *l + Math.Cos(phi) * (1 - l * l), l *(1 - Math.Cos(phi)) * m + n * Math.Sin(phi), l *(1 - Math.Cos(phi)) * n - m * Math.Sin(phi), 0 },
{ l *(1 - Math.Cos(phi)) * m - n * Math.Sin(phi), m *m + Math.Cos(phi) * (1 - m * m), m *(1 - Math.Cos(phi)) * n + l * Math.Sin(phi), 0 },
{ l *(1 - Math.Cos(phi)) * n + m * Math.Sin(phi), m *(1 - Math.Cos(phi)) * n - l * Math.Sin(phi), n *n + Math.Cos(phi) * (1 - n * n), 0 },
{ 0, 0, 0, 1 }
};
var t1 = _form.matrix_multiplication(p.getP(), transfer);
t1 = _form.matrix_multiplication(t1, transfer);
PointPol p2 = translatePol(t1);
PointPol p3 = p2.shift(a, b, c);
return(p3);
}
//смещение
public void shift(double x, double y, double z)
{
center = center.shift(x, y, z);
}
