public void RotateAroundPoint( ref Quat4f rotation, Vector3f point )
{
// TODO: constrained
// if (constraint())
// constraint()->constrainRotation(rotation, this);
Rotation *= rotation;
Rotation = Rotation.Normalized(); // Prevents numerical drift
Quat4f q = new Quat4f( InverseTransformOf( rotation.Axis ), rotation.Angle );
Vector3f trans = point + q.Rotate( Position - point ) - Translation;
// if (constraint())
// constraint()->constrainTranslation(trans, this);
Translation += trans;
// emit modified();
}
public void Rotate( ref Quat4f q )
{
// if (constraint())
// constraint()->constrainRotation(q, this);
Rotation *= q;
Rotation = Rotation.Normalized();
// TODO: emit modified()
}