public Matrix3()
{
Identity3();
Matrix3D m3 = new Matrix3D();
m3.SetIdentity();
}
public Needle()
{
kinematics = new NeedleKinematics();
// initializing the center, head and tail
center = new Matrix3D();
center.SetIdentity();
head0 = new Matrix3D();
head0.SetIdentity();
head0.M14 = -radius;
tail0 = new Matrix3D();
tail0.SetIdentity();
tail0.M14 = radius;
real_half = new Vector3D[n];
imag_half = new Vector3D[n];
// initializing points
for (int i = 0; i < n; i++)
{
real_half[i].X = radius * Math.Cos((double)i / (n - 1) * Math.PI);
real_half[i].Y = -radius * Math.Sin((double)i / (n - 1) * Math.PI);
real_half[i].Z = 0;
imag_half[i].X = -radius * Math.Cos((double)i / (n - 1) * Math.PI);
imag_half[i].Y = radius * Math.Sin((double)i / (n - 1) * Math.PI);
imag_half[i].Z = 0;
}
// initializing the moved head
double angle = -Math.PI / (n - 1);
Matrix3D rotZ = new Matrix3D(Math.Cos(angle), -Math.Sin(angle), 0, 0,
Math.Sin(angle), Math.Cos(angle), 0, 0,
0, 0, 1, 0,
0, 0, 0, 1);
moved_head0 = Matrix3D.Multiply(rotZ, head0);
}