public CoordinateF Rotate(CoordinateF coord)
{
// http://content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation
var q = new QuaternionF(coord.Normalise(), 0);
var temp = q * Conjugate();
return((this * temp).Vector);
}
public static MatrixF Rotation(CoordinateF axis, float angle)
{
var cos = (float)Math.Cos(-angle);
var sin = (float)Math.Sin(-angle);
var t = 1f - cos;
axis = axis.Normalise();
return(new MatrixF(t * axis.X * axis.X + cos, t * axis.X * axis.Y - sin * axis.Z, t * axis.X * axis.Z + sin * axis.Y, 0,
t * axis.X * axis.Y + sin * axis.Z, t * axis.Y * axis.Y + cos, t * axis.Y * axis.Z - sin * axis.X, 0,
t * axis.X * axis.Z - sin * axis.Y, t * axis.Y * axis.Z + sin * axis.X, t * axis.Z * axis.Z + cos, 0,
0, 0, 0, 1));
}
public static QuaternionF AxisAngle(CoordinateF axis, float angle)
{
return(Math.Abs(axis.VectorMagnitude()) < 0.0001
? Identity
: new QuaternionF(axis.Normalise() * (float)Math.Sin(angle / 2), (float)Math.Cos(angle / 2)).Normalise());
}
public CoordinateF Rotate(CoordinateF coord)
{
// http://content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation
var q = new QuaternionF(coord.Normalise(), 0);
var temp = q * Conjugate();
return (this * temp).Vector;
}
public static QuaternionF AxisAngle(CoordinateF axis, float angle)
{
return Math.Abs(axis.VectorMagnitude()) < 0.0001
? Identity
: new QuaternionF(axis.Normalise() * (float)Math.Sin(angle / 2), (float)Math.Cos(angle / 2)).Normalise();
}
public static MatrixF Rotation(CoordinateF axis, float angle)
{
var cos = (float) Math.Cos(-angle);
var sin = (float) Math.Sin(-angle);
var t = 1f - cos;
axis = axis.Normalise();
return new MatrixF(t * axis.X * axis.X + cos, t * axis.X * axis.Y - sin * axis.Z, t * axis.X * axis.Z + sin * axis.Y, 0,
t * axis.X * axis.Y + sin * axis.Z, t * axis.Y * axis.Y + cos, t * axis.Y * axis.Z - sin * axis.X, 0,
t * axis.X * axis.Z - sin * axis.Y, t * axis.Y * axis.Z + sin * axis.X, t * axis.Z * axis.Z + cos, 0,
0, 0, 0, 1);
}
