public void Set(AxisVector3F a)
{
x = a.x;
y = a.y;
z = a.z;
angle = a.angle;
}
public void Set(AxisVector3F a)
{
AxisVector3F aa = new AxisVector3F(a);
if (aa.angle == 0)
{
aa.y = 1;
}
Set(new Matrix3X3F().Set(aa));
}
public override bool Equals(object o)
{
if (!(o is AxisVector3F))
{
return(false);
}
AxisVector3F a1 = (AxisVector3F)o;
return(x == a1.x && y == a1.y && z == a1.z && angle == a1.angle);
}
public Matrix3X3F Set(AxisVector3F a)
{
double x = a.x;
double y = a.y;
double z = a.z;
double angle = a.angle;
// Taken from Rick's which is taken from Wertz. pg. 412
// Bug Fixed and changed into right-handed by hiranabe
double n = Math.Sqrt(x * x + y * y + z * z);
// zero-div may occur
n = 1 / n;
x *= n;
y *= n;
z *= n;
double c = Math.Cos(angle);
double s = Math.Sin(angle);
double omc = 1.0 - c;
m00 = (float)(c + x * x * omc);
m11 = (float)(c + y * y * omc);
m22 = (float)(c + z * z * omc);
double tmp1 = x * y * omc;
double tmp2 = z * s;
m01 = (float)(tmp1 - tmp2);
m10 = (float)(tmp1 + tmp2);
tmp1 = x * z * omc;
tmp2 = y * s;
m02 = (float)(tmp1 + tmp2);
m20 = (float)(tmp1 - tmp2);
tmp1 = y * z * omc;
tmp2 = x * s;
m12 = (float)(tmp1 - tmp2);
m21 = (float)(tmp1 + tmp2);
return(this);
}
public Quat(AxisVector3F a)
{
Set(a);
}
protected bool Equals(AxisVector3F other)
{
return(x.Equals(other.x) && y.Equals(other.y) && z.Equals(other.z) && angle.Equals(other.angle));
}
public AxisVector3F(AxisVector3F a1)
{
Set(a1.x, a1.y, a1.z, a1.angle);
}