/// <summary>
/// rotates the matrix by an angle ussing the following formula
/// [ Cos(Theta), Sin(Theta), 0,]
/// [-Sin(Theta), Cos(Theta), 0,]
/// [ 0 , 0 , 1)]
/// </summary>
/// <param name="angle"></param>
/// <returns></returns>
public static Matrix3 Rotation(float angle, Form1.Axis axis)
{
float radAngle = (float)(angle * (Math.PI / 180.0));
float cosTheta = (float)Math.Cos(radAngle);
float sinTheta = (float)Math.Sin(radAngle);
Vector3 row1;
Vector3 row2;
Vector3 row3;
switch (axis)
{
case Form1.Axis.X:
row1 = new Vector3(cosTheta, -sinTheta, 0);
row2 = new Vector3(sinTheta, cosTheta, 0);
row3 = new Vector3(0, 0, 1);
break;
case Form1.Axis.Y:
row1 = new Vector3(cosTheta, 0, sinTheta);
row2 = new Vector3(0, 1, 0);
row3 = new Vector3(-sinTheta, 0, cosTheta);
break;
case Form1.Axis.Z:
row1 = new Vector3(1, 0, 0);
row2 = new Vector3(0, cosTheta, -sinTheta);
row3 = new Vector3(0, sinTheta, cosTheta);
break;
default:
row1 = new Vector3();
row2 = new Vector3();
row3 = new Vector3();
break;
}
return(new Matrix3(row1, row2, row3));
}
private void setView()
{
float angle_beta_rad = (float)(_angle_view_beta * Math.PI / 180);
float angle_alfa_rad = (float)(_angle_view_alfa * Math.PI / 180);
_viewY = (float)(_l * Math.Sin(angle_beta_rad));
float viewX2plusviewZ2 = (float)(_l * Math.Cos(angle_beta_rad));
_viewX = (float)(viewX2plusviewZ2 * Math.Sin(angle_alfa_rad));
_viewZ = (float)(viewX2plusviewZ2 * Math.Cos(angle_alfa_rad));
double angle_x = Math.Acos(Math.Abs(_viewX) / _l) * 180 / Math.PI;
double angle_y = Math.Acos(Math.Abs(_viewY) / _l) * 180 / Math.PI;
double angle_z = Math.Acos(Math.Abs(_viewZ) / _l) * 180 / Math.PI;
if (angle_x <= angle_y && angle_x <= angle_z)
{
nearestAxis = Form1.Axis.X;
}
else if (angle_y <= angle_x && angle_y <= angle_z)
{
nearestAxis = Form1.Axis.Y;
}
else if (angle_z <= angle_x && angle_z <= angle_y)
{
nearestAxis = Form1.Axis.Z;
}
}
