private Quaternion(vec3 point, vec3 axis, double angle)
{
scalar = Cos(angle / 2);
vec = axis * Sin(angle / 2);
this.angle = angle;
}
private Quaternion(double scalar, vec3 vec)
{
this.scalar = scalar;
this.vec = vec;
}
// skaláris szorzat
public static double Dot(vec3 a, vec3 b)
{
return(a.x * b.x + a.y * b.y + a.z * b.z);
}
public vec3(vec3 v) : this(v.x, v.y, v.z)
{
}
// normalizálás
public static vec3 Normalize(vec3 v)
{
return(v / Sqrt(Dot(v, v)));
}
// vektorszorzat
public static vec3 Cross(vec3 a, vec3 b)
{
return(new vec3(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x));
}
