// -1
// V'=q*V*q ,
public void Rotate(Point3d pt)
{
this.Normalise();
Quaternion q1 = this.Copy();
q1.Conjugate();
Quaternion qNode = new Quaternion(0, pt.X, pt.Y, pt.Z);
qNode = this * qNode * q1;
pt.X = qNode.X;
pt.Y = qNode.Y;
pt.Z = qNode.Z;
}
public void Rotate(Point3d[] nodes)
{
this.Normalise();
Quaternion q1 = this.Copy();
q1.Conjugate();
for (int i = 0; i < nodes.Length; i++)
{
Quaternion qNode = new Quaternion(0, nodes[i].X, nodes[i].Y, nodes[i].Z);
qNode = this * qNode * q1;
nodes[i].X = qNode.X;
nodes[i].Y = qNode.Y;
nodes[i].Z = qNode.Z;
}
}
