/**
* - Heading_Tilt_Roll retourne la CDVMatrix représentant la suite d'opérations:
* - rotation de Heading / Z
* - rotation de Tilt / X
* - rotation de Roll / Z
* - Heading/Tilt/Roll: en radians
**/
public static CDVMatrix Heading_Tilt_Roll(double Heading, double Tilt, double Roll)
{
List <CDVMatrix> apCDVMatrix = new List <CDVMatrix>();
apCDVMatrix.Add(CDVMatrix.RotationZ(Heading));
apCDVMatrix.Add(CDVMatrix.RotationX(Tilt));
apCDVMatrix.Add(CDVMatrix.RotationZ(Roll));
return(CDVMatrix.Multiplication(apCDVMatrix, true));
}
public void RotateXYZ(double AngleX, double AngleY, double AngleZ)
{
if (AngleX != 0)
{
Multiply(CDVMatrix.RotationX(AngleX));
}
if (AngleY != 0)
{
Multiply(CDVMatrix.RotationY(AngleY));
}
if (AngleZ != 0)
{
Multiply(CDVMatrix.RotationZ(AngleZ));
}
}
public static CDVMatrix RotationAlphaBetaGamma(double alpha, double beta, double gamma)
{
CDVMatrix vret = new CDVMatrix();
CDVMatrix mbetaalpha = CDVMatrix.RotationAlphaBeta(alpha, beta);
mbetaalpha.Transpose();
CDVMatrix mgamma = CDVMatrix.RotationX(gamma);
mgamma.Transpose();
vret = CDVMatrix.Multiplication(mgamma, mbetaalpha);
vret.Transpose();
return(vret);
}