|
public FromQuaternion ( |
||
| quaternion | ||
| 리턴 | void | |
public void Rotate(Quaternionf q)
{
Matrix4f m = new Matrix4f();
m.FromQuaternion(q);
Rotate(m);
}
public void Yaw(float angle)
{
Quaternionf q = new Quaternionf();
q.FromAxisAngle(zAxis, angle);
Matrix4f m = new Matrix4f();
m.FromQuaternion(q);
Rotate(m);
if (!xAxis.IsFinite() || !yAxis.IsFinite())
throw new Exception("Non-finite in CoordinateFrame.Yaw()");
}
public CoordinateFrame(Vector3f origin, Quaternionf rotation)
{
Matrix4f m = new Matrix4f();
m.FromQuaternion(rotation);
this.origin = origin;
xAxis = new Vector3f(m.M11, m.M21, m.M31);
yAxis = new Vector3f(m.M12, m.M22, m.M32);
zAxis = new Vector3f(m.M13, m.M23, m.M33);
if (!IsFinite())
throw new ArgumentException("Non-finite in CoordinateFrame constructor");
}