public void DirToDxDyDz(ref ChVector Vx,
ref ChVector Vy,
ref ChVector Vz,
ChVector Vsingular)
{
// set Vx.
if (this.IsNull())
{
Vx = new ChVector(1, 0, 0);
}
else
{
Vx = this.GetNormalized();
}
Vz.Cross(Vx, Vsingular);
double zlen = Vz.Length();
// if near singularity, change the singularity reference vector.
if (zlen < 0.0001)
{
ChVector mVsingular = new ChVector(0, 0, 0);
if (Mathfx.Abs(Vsingular.x) < 0.9)
{
mVsingular = new ChVector(1, 0, 0);
}
else if (Mathfx.Abs(Vsingular.y) < 0.9)
{
mVsingular = new ChVector(0, 1, 0);
}
else if (Mathfx.Abs(Vsingular.z) < 0.9)
{
mVsingular = new ChVector(0, 0, 1);
}
Vz.Cross(Vx, mVsingular);
zlen = Vz.Length(); // now should be nonzero length.
}
// normalize Vz.
Vz.Scale(1 / zlen);
// compute Vy.
Vy.Cross(Vz, Vx);
}
