/// <summary>
/// Calcula la transformacion que permite que el rectangulo <c>rec</c> se centre en el punto
/// <c>punto</c>.
/// </summary>
/// <param name="orig">Rectangulo.</param>
/// <param name="punto">Posicion.</param>
public static Matrix3x3d Center(Rectangle2d orig, Point2d punto)
{
// Calcula la transformacion.
return(Matrix3x3dUtils.Translate(
punto.X - orig.X - orig.DY / 2,
punto.Y - orig.Y - orig.DY / 2));
}
public static Matrix4x4d RotateQuat(double x, double y, double z, double w)
{
Matrix3x3d m = Matrix3x3dUtils.RotateQuat(x, y, z, w);
return(new Matrix4x4d(
m.M00, m.M01, m.M02, 0,
m.M10, m.M11, m.M12, 0,
m.M20, m.M21, m.M22, 0,
0, 0, 0, 1));
}
/// this conversion uses NASA standard aeroplane conventions as described on page:
/// http://www.euclideanspace.com/maths/geometry/rotations/euler/index.htm
/// Coordinate System: right hand
/// Positive angle: right hand
/// Order of euler angles: heading first, then attitude, then bank
/// matrix row column ordering:
/// [m00 m01 m02 0]
/// [m10 m11 m12 0]
/// [m20 m21 m22 0]
/// [0 0 0 1]
public static Matrix4x4d RotateEuler(double heading, double attitude, double bank)
{
Matrix3x3d m = Matrix3x3dUtils.RotateEuler(heading, attitude, bank);
return(new Matrix4x4d(
m.M00, m.M01, m.M02, 0,
m.M10, m.M11, m.M12, 0,
m.M20, m.M21, m.M22, 0,
0, 0, 0, 1));
}