//----------------------------------------------------------------------------------------------
//Матрица поворота от вектора до заданного вектора
public static RealMatrix GetRotationMatrixToTargetVector(
RealVector vector, RealVector targetVector
)
{
RealVector crossProduct = SpaceManager.GetVectorsCrossProduct(vector, targetVector);
RealVector normalizedCrossProduct = (1 / crossProduct.Length) * crossProduct;
double angle = SpaceManager.GetAngleBetweenVectors(vector, targetVector);
double x = normalizedCrossProduct[0];
double y = normalizedCrossProduct[1];
double z = normalizedCrossProduct[2];
double[ , ] arrayA = new double[, ] {
{ 0, -z, y },
{ z, 0, -x },
{ -y, x, 0 }
};
RealMatrix matrixA = new RealMatrix(arrayA);
RealMatrix rotationMatrix =
RealMatrix.IdentityMatrix(3) + matrixA * Math.Sin(angle) +
(matrixA * matrixA) * (1 - Math.Cos(angle));
return(rotationMatrix);
}