public decimal EvalAtPoint(Coordinate co)
{
return(A * co.X + B * co.Y + C * co.Z + D);
}
/// <summary>
/// Project a point into the space of this plane. I.e. Get the point closest
/// to the provided point that is on this plane.
/// </summary>
/// <param name="point">The point to project</param>
/// <returns>The point projected onto this plane</returns>
public Coordinate Project(Coordinate point)
{
// http://www.gamedev.net/topic/262196-projecting-vector-onto-a-plane/
// Projected = Point - ((Point - PointOnPlane) . Normal) * Normal
return(point - ((point - PointOnPlane).Dot(Normal)) * Normal);
}
public Quaternion(Coordinate vector, decimal scalar)
{
Vector = vector;
Scalar = scalar;
}
public Quaternion(decimal x, decimal y, decimal z, decimal w)
{
Vector = new Coordinate(x, y, z);
Scalar = w;
}
public static Quaternion AxisAngle(Coordinate axis, decimal angle)
{
return(axis.VectorMagnitude() == 0
? Identity
: new Quaternion(axis.Normalise() * DMath.Sin(angle / 2), DMath.Cos(angle / 2)).Normalise());
}
