public static void GetRotatedVector(this Quaternion quaternion, Point3D[] points)
{
Matrix3D matrix = new Matrix3D();
matrix.Rotate(quaternion);
MatrixTransform3D transform = new MatrixTransform3D(matrix);
transform.Transform(points);
}
/// <summary>
/// Rotates the double vector around the angle in degrees
/// </summary>
public DoubleVector GetRotatedVector(Vector3D axis, double angle)
{
Matrix3D matrix = new Matrix3D();
matrix.Rotate(new Quaternion(axis, angle));
MatrixTransform3D transform = new MatrixTransform3D(matrix);
return new DoubleVector(transform.Transform(this.Standard), transform.Transform(this.Orth));
}
/// <summary>
/// Transforms from local to world coordinates.
/// </summary>
/// <param name="vector">
/// The vector (local coordinates).
/// </param>
/// <returns>
/// Transformed vector (world coordinates).
/// </returns>
protected Vector3D ToWorld(Vector3D vector)
{
var mat = Visual3DHelper.GetTransform(this);
var t = new MatrixTransform3D(mat);
return t.Transform(vector);
}
/// <summary>
/// Transforms from local to world coordinates.
/// </summary>
/// <param name="point">
/// The point (local coordinates).
/// </param>
/// <returns>
/// Transformed point (world coordinates).
/// </returns>
protected Point3D ToWorld(Point3D point)
{
var mat = Visual3DHelper.GetTransform(this);
var t = new MatrixTransform3D(mat);
return t.Transform(point);
}
/// <summary>
/// Transforms from world to local coordinates.
/// </summary>
/// <param name="worldPoint">
/// The point (world coordinates).
/// </param>
/// <returns>
/// Transformed vector (local coordinates).
/// </returns>
protected Point3D ToLocal(Point3D worldPoint)
{
var mat = Visual3DHelper.GetTransform(this);
mat.Invert();
var t = new MatrixTransform3D(mat);
return t.Transform(worldPoint);
}
/// <summary>
/// This overload will rotate arrays of different types. Just pass null if you don't have any of that type
/// </summary>
public static void GetRotatedVector(this Quaternion quaternion, Vector3D[] vectors, Point3D[] points, DoubleVector[] doubleVectors)
{
Matrix3D matrix = new Matrix3D();
matrix.Rotate(quaternion);
MatrixTransform3D transform = new MatrixTransform3D(matrix);
if (vectors != null)
{
transform.Transform(vectors);
}
if (points != null)
{
transform.Transform(points);
}
if (doubleVectors != null)
{
for (int cntr = 0; cntr < doubleVectors.Length; cntr++)
{
doubleVectors[cntr] = new DoubleVector(transform.Transform(doubleVectors[cntr].Standard), transform.Transform(doubleVectors[cntr].Orth));
}
}
}
public static void GetRotatedVector(this Quaternion quaternion, DoubleVector[] doubleVectors)
{
Matrix3D matrix = new Matrix3D();
matrix.Rotate(quaternion);
MatrixTransform3D transform = new MatrixTransform3D(matrix);
for (int cntr = 0; cntr < doubleVectors.Length; cntr++)
{
doubleVectors[cntr] = new DoubleVector(transform.Transform(doubleVectors[cntr].Standard), transform.Transform(doubleVectors[cntr].Orth));
}
}
public static DoubleVector GetRotatedVector(this Quaternion quaternion, DoubleVector doubleVector)
{
Matrix3D matrix = new Matrix3D();
matrix.Rotate(quaternion);
MatrixTransform3D transform = new MatrixTransform3D(matrix);
return new DoubleVector(transform.Transform(doubleVector.Standard), transform.Transform(doubleVector.Orth));
}
public static Point3D GetRotatedVector(this Quaternion quaternion, Point3D point)
{
Matrix3D matrix = new Matrix3D();
matrix.Rotate(quaternion);
MatrixTransform3D transform = new MatrixTransform3D(matrix);
return transform.Transform(point);
}
// I copy the code in each of these overloads, rather than make a private method to increase speed
//TODO: I don't use these rotate extension methods anymore, but it would be worth testing whether to use this matrix transform, or use: new RotateTransform3D(new QuaternionRotation3D(quaternion))
public static Vector3D GetRotatedVector(this Quaternion quaternion, Vector3D vector)
{
Matrix3D matrix = new Matrix3D();
matrix.Rotate(quaternion);
MatrixTransform3D transform = new MatrixTransform3D(matrix);
return transform.Transform(vector);
}
/// <summary>
/// Rotates the vector around the angle in degrees
/// </summary>
public static Vector3D GetRotatedVector(this Vector3D vector, Vector3D axis, double angle)
{
Matrix3D matrix = new Matrix3D();
matrix.Rotate(new Quaternion(axis, angle));
MatrixTransform3D transform = new MatrixTransform3D(matrix);
return transform.Transform(vector);
}