/// <summary>
/// Determines whether two objects are equal.
/// </summary>
public override bool Equals(object obj)
{
if (obj == null || (!object.ReferenceEquals(this.GetType(), obj.GetType())))
{
return(false);
}
Rotation r = (Rotation)obj;
if (GeometRi3D.UseAbsoluteTolerance)
{
return((this.ToRotationMatrix - r.ConvertTo(this.Coord).ToRotationMatrix).MaxNorm < GeometRi3D.Tolerance);
}
else
{
return((this.ToRotationMatrix - r.ConvertTo(this.Coord).ToRotationMatrix).MaxNorm / this.ToRotationMatrix.MaxNorm < GeometRi3D.Tolerance);
}
}
/// <summary>
/// Rotate vector
/// </summary>
public Vector3d Rotate(Rotation r)
{
if (this._coord != r.Coord)
{
r = r.ConvertTo(this._coord);
}
return(r.ToRotationMatrix * this);
}
/// <summary>
/// Rotate point around point 'p' as a rotation center.
/// </summary>
public Point3d Rotate(Rotation r, Point3d p)
{
if (this._coord != r.Coord)
{
r = r.ConvertTo(this._coord);
}
if (this._coord != p.Coord)
{
p = p.ConvertTo(this._coord);
}
return(r.ToRotationMatrix * (this - p) + p);
}
/// <summary>
/// Combine two rotations.
/// </summary>
public Rotation Mult(Rotation r)
{
Matrix3d m = this.ToRotationMatrix * r.ConvertTo(this.Coord).ToRotationMatrix;
return(new Rotation(m, this.Coord));
}