/// <summary>
///
/// </summary>
/// <param name="rotation"></param>
/// <returns></returns>
public void Set(AxisAngle3d rotation)
{
if (!rotation.IsValid)
{
return;
}
var axis = rotation.Axis;
var cosAngle = rotation.CosAngle;
var sinAngle = rotation.SinAngle;
var t = 1.0 - cosAngle;
_x.X = cosAngle + axis.X * axis.X * t;
_y.Y = cosAngle + axis.Y * axis.Y * t;
_z.Z = cosAngle + axis.Z * axis.Z * t;
var c = axis.X * axis.Y * t;
var s = axis.Z * sinAngle;
_x.Y = c + s;
_y.X = c - s;
c = axis.X * axis.Z * t;
s = axis.Y * sinAngle;
_x.Z = c - s;
_z.X = c + s;
c = axis.Y * axis.Z * t;
s = axis.X * sinAngle;
_y.Z = c + s;
_z.Y = c - s;
}
/// <summary>
///
/// </summary>
/// <param name="axisAngle"></param>
/// <returns></returns>
public void Set(AxisAngle3d axisAngle)
{
var axis = axisAngle.Axis;
var cos = axisAngle.CosAngle;
var sin = axisAngle.SinAngle;
double t = 1.0 - cos;
_x.X = cos + axis.X * axis.X * t;
_y.Y = cos + axis.Y * axis.Y * t;
_z.Z = cos + axis.Z * axis.Z * t;
double p0 = axis.X * axis.Y * t;
double p1 = axis.Z * sin;
_x.Y = p0 + p1;
_y.X = p0 - p1;
p0 = axis.X * axis.Z * t;
p1 = axis.Y * sin;
_x.Z = p0 - p1;
_z.X = p0 + p1;
p0 = axis.Y * axis.Z * t;
p1 = axis.X * sin;
_y.Z = p0 + p1;
_z.Y = p0 - p1;
}
/// <summary>
/// Assumes the given rotation is valid.
/// </summary>
/// <param name="rotation"></param>
public void Set(AxisAngle3d rotation)
{
var axis = rotation.Axis;
var s = Math.Sqrt(0.5 - rotation.CosAngle); // half-angle identity
X = axis.X * s;
Y = axis.Y * s;
Z = axis.Z * s;
W = Math.Sqrt(0.5 + rotation.CosAngle); // half-angle identity
}
/// <summary>
///
/// </summary>
/// <param name="rotation"></param>
/// <returns></returns>
public bool Set(ref AxisAngle3d rotation)
{
if (!rotation.IsValid)
{
return(false);
}
var axis = rotation.Axis;
var cosAngle = rotation.CosAngle;
var sinAngle = rotation.SinAngle;
var t = 1.0 - cosAngle;
_x.X = cosAngle + axis.X * axis.X * t;
_y.Y = cosAngle + axis.Y * axis.Y * t;
_z.Z = cosAngle + axis.Z * axis.Z * t;
var c = axis.X * axis.Y * t;
var s = axis.Z * sinAngle;
_x.Y = c + s;
_y.X = c - s;
c = axis.X * axis.Z * t;
s = axis.Y * sinAngle;
_x.Z = c - s;
_z.X = c + s;
c = axis.Y * axis.Z * t;
s = axis.X * sinAngle;
_y.Z = c + s;
_z.Y = c - s;
return(true);
}
/// <summary>
/// Rotates this basis around the given axis by the specified angle.
/// </summary>
/// <param name="axisAngle"></param>
public void Rotate(AxisAngle3d axisAngle)
{
SetXY(axisAngle.Rotate(_x), axisAngle.Rotate(_y));
}
/// <summary>
///
/// </summary>
public Rotation3d(AxisAngle3d axisAngle)
: this()
{
Set(axisAngle);
}
/// <summary>
///
/// </summary>
/// <param name="rotation"></param>
public void Set(ref AxisAngle3d rotation)
{
SetImpl(rotation.Axis, rotation.Angle);
}
/// <summary>
///
/// </summary>
/// <param name="rotation"></param>
public Quaterniond(AxisAngle3d rotation)
: this()
{
Set(ref rotation);
}
/// <summary>
///
/// </summary>
/// <param name="rotation"></param>
/// <param name="point"></param>
/// <returns></returns>
public static Orient3d CreateRotationAtPoint(AxisAngle3d rotation, Vec3d point)
{
throw new NotImplementedException();
}
/// <summary>
/// Applies the given rotation to this object.
/// </summary>
/// <param name="rotation"></param>
public void Rotate(ref AxisAngle3d rotation)
{
SetXY(rotation.Apply(_x), rotation.Apply(_y));
}
/// <summary>
///
/// </summary>
public OrthoBasis3d(AxisAngle3d rotation)
: this()
{
Set(ref rotation);
}
/// <summary>
///
/// </summary>
public Rotation3d(AxisAngle3d rotation)
: this()
{
Set(rotation);
}
/// <summary>
/// Applies the given rotation to the axis of this rotation.
/// </summary>
/// <param name="rotation"></param>
public void RotateAxis(AxisAngle3d rotation)
{
_axis = rotation.Apply(_axis);
}
/// <summary>
///
/// </summary>
/// <param name="other"></param>
/// <param name="tolerance"></param>
/// <returns></returns>
public bool ApproxEquals(ref AxisAngle3d other, double tolerance = SlurMath.ZeroTolerance)
{
return
(SlurMath.ApproxEquals(_angle, other._angle, tolerance) &&
_axis.ApproxEquals(other._axis, tolerance));
}
