private void button5_Click(object sender, EventArgs e)
{
// This button tests TorqueBall.OrthonormalizeOrientation
ClearPictureBox();
// Setup Orig Vector
MyVector origVector = new MyVector(9, 0, 0);
DrawVector(origVector, Color.Silver);
// Rotate around Z
MyQuaternion rotationQuat = new MyQuaternion(new MyVector(0, 0, 1), Utility3D.GetDegreesToRadians(30));
MyVector rotated = rotationQuat.GetRotatedVector(origVector, true);
DrawVector(rotated, Color.Black);
MyMatrix3 rotationMatrix = rotationQuat.ToMatrix3FromUnitQuaternion();
// See if this affects the rotation matrix
TorqueBall.OrthonormalizeOrientation(rotationMatrix);
rotationQuat = null;
rotationQuat = new MyQuaternion();
rotationQuat.FromRotationMatrix(rotationMatrix);
rotationMatrix = null;
// Draw the results
rotated = rotationQuat.GetRotatedVector(origVector, true);
DrawVector(rotated, Color.DodgerBlue);
}
private void btnRotationMatrix_Click(object sender, EventArgs e)
{
ClearPictureBox();
// Setup Orig Vector
MyVector origVector = new MyVector(9, 0, 0);
DrawVector(origVector, Color.Silver);
// Rotate around Z
MyQuaternion rotationQuat = new MyQuaternion(new MyVector(0, 0, 1), Utility3D.GetDegreesToRadians(30));
MyVector rotated = rotationQuat.GetRotatedVector(origVector, true);
DrawVector(rotated, Color.Black);
MyMatrix3 rotationMatrix;
for (int cntr = 1; cntr <= 10000000; cntr++)
{
rotationMatrix = rotationQuat.ToMatrix3FromUnitQuaternion();
rotationQuat = null;
rotationQuat = new MyQuaternion();
rotationQuat.FromRotationMatrix(rotationMatrix);
rotationMatrix = null;
}
rotated = rotationQuat.GetRotatedVector(origVector, true);
DrawVector(rotated, Color.DodgerBlue);
rotationQuat.W *= -1;
MyVector rotatedNegated = rotationQuat.GetRotatedVector(origVector, true);
DrawVector(rotatedNegated, Color.Yellow);
}