public static Angle3d operator +(Angle3d a1, Angle3d a2)
{
Angle3d angle = new Angle3d();
angle.X = a1.X + a2.X;
angle.Y = a1.Y + a2.Y;
angle.Z = a1.Z + a2.Z;
return angle;
}
public static Angle3d operator +(Angle3d a1, Angle3d a2)
{
Angle3d angle = new Angle3d();
angle.X = a1.X + a2.X;
angle.Y = a1.Y + a2.Y;
angle.Z = a1.Z + a2.Z;
return(angle);
}
/// <summary>
/// Осуществляет поворот объекта вокруг оси на заданный угол.
/// </summary>
/// <param name="axis">Оси, вокруг которых осуществляется поворот.</param>
/// <param name="angle">Угол, на который нужно повернуть объект.</param>
/// <param name="type">Тип задания угла: абсолютно (перекрытие значений) или относительно (сложение значений).</param>
public virtual void Turn(Point3d axis, Double angle, PositionType type = PositionType.Absolute)
{
Angle3d relative = new Angle3d();
if (type == PositionType.Relative)
relative = new Angle3d(this.Angle);
if (axis.X > 0) this.Angle.X = angle + relative.X;
if (axis.Y > 0) this.Angle.Y = angle + relative.Y;
if (axis.Z > 0) this.Angle.Z = angle + relative.Z;
}
public static Point3d Rotate(Point3d vector, Angle3d angle)
{
Matrix vectorColumn = new Matrix(3, 1);
vectorColumn[0, 0] = vector.X;
vectorColumn[1, 0] = vector.Y;
vectorColumn[2, 0] = vector.Z;
Matrix rotationMatrix = new Matrix(3, 3);
if (angle.X != 0)
{
rotationMatrix[0, 0] = 1;
rotationMatrix[1, 1] = rotationMatrix[2, 2] = Math.Cos(Angle3d.DegreeToRadian(angle.X));
rotationMatrix[1, 2] = -Math.Sin(Angle3d.DegreeToRadian(angle.X));
rotationMatrix[2, 1] = -rotationMatrix[1, 2];
vectorColumn = rotationMatrix * vectorColumn;
rotationMatrix.Clear();
}
if (angle.Y != 0)
{
rotationMatrix[0, 0] = rotationMatrix[2, 2] = Math.Cos(Angle3d.DegreeToRadian(angle.Y));
rotationMatrix[0, 2] = Math.Sin(Angle3d.DegreeToRadian(angle.Y));
rotationMatrix[1, 1] = 1;
rotationMatrix[2, 0] = -rotationMatrix[0, 2];
vectorColumn = rotationMatrix * vectorColumn;
rotationMatrix.Clear();
}
if (angle.Z != 0)
{
rotationMatrix[0, 0] = rotationMatrix[1, 1] = Math.Cos(Angle3d.DegreeToRadian(angle.Z));
rotationMatrix[2, 2] = 1;
rotationMatrix[1, 0] = Math.Sin(Angle3d.DegreeToRadian(angle.Z));
rotationMatrix[0, 1] = -rotationMatrix[1, 0];
vectorColumn = rotationMatrix * vectorColumn;
}
Point3d result = new Point3d(vectorColumn[0, 0], vectorColumn[1, 0], vectorColumn[2, 0]);
return(result);
}
public static Point3d Rotate(Point3d vector, Angle3d angle)
{
Matrix vectorColumn = new Matrix(3, 1);
vectorColumn[0, 0] = vector.X;
vectorColumn[1, 0] = vector.Y;
vectorColumn[2, 0] = vector.Z;
Matrix rotationMatrix = new Matrix(3, 3);
if (angle.X != 0)
{
rotationMatrix[0, 0] = 1;
rotationMatrix[1, 1] = rotationMatrix[2, 2] = Math.Cos(Angle3d.DegreeToRadian(angle.X));
rotationMatrix[1, 2] = -Math.Sin(Angle3d.DegreeToRadian(angle.X));
rotationMatrix[2, 1] = -rotationMatrix[1, 2];
vectorColumn = rotationMatrix * vectorColumn;
rotationMatrix.Clear();
}
if (angle.Y != 0)
{
rotationMatrix[0, 0] = rotationMatrix[2, 2] = Math.Cos(Angle3d.DegreeToRadian(angle.Y));
rotationMatrix[0, 2] = Math.Sin(Angle3d.DegreeToRadian(angle.Y));
rotationMatrix[1, 1] = 1;
rotationMatrix[2, 0] = -rotationMatrix[0, 2];
vectorColumn = rotationMatrix * vectorColumn;
rotationMatrix.Clear();
}
if (angle.Z != 0)
{
rotationMatrix[0, 0] = rotationMatrix[1, 1] = Math.Cos(Angle3d.DegreeToRadian(angle.Z));
rotationMatrix[2, 2] = 1;
rotationMatrix[1, 0] = Math.Sin(Angle3d.DegreeToRadian(angle.Z));
rotationMatrix[0, 1] = -rotationMatrix[1, 0];
vectorColumn = rotationMatrix * vectorColumn;
}
Point3d result = new Point3d(vectorColumn[0, 0], vectorColumn[1, 0], vectorColumn[2, 0]);
return result;
}
public Angle3d(Angle3d basement)
{
this.X = basement.X;
this.Y = basement.Y;
this.Z = basement.Z;
}
public override void Turn(Point3d axis, double angle, PositionType type = PositionType.Absolute)
{
base.Turn(axis, angle, type);
Angle3d angle3d = new Angle3d(axis.X * angle, axis.Y * angle, axis.Z * angle);
foreach (var obj in this.FixtureObjects)
{
Point3d result = DataService.Rotate(obj.Position, angle3d);
if (obj is Fixture)
((Fixture)obj).SetPosition(result);
else
obj.Position = result;
}
}
public Angle3d(Angle3d basement)
{
this.X = basement.X;
this.Y = basement.Y;
this.Z = basement.Z;
}
/// <summary>
/// Передвигает объект с заданной скоростью.
/// </summary>
public void Move()
{
Angle3d angle = new Angle3d(this.Angle.X, this.Angle.Y, this.Angle.Z);
Point3d vector = DataService.Rotate(new Point3d(0, 0, this.Speed), angle);
this.Position += vector;
}
