internal static Node[,] BuildRotationMatrix(CartesianDimension dimension, double radians)
{
double cos = Math.Cos(radians);
double sin = Math.Sin(radians);
switch (dimension)
{
case CartesianDimension.X:
return(genNodes(new double[, ]
{
{ 1, 0, 0 },
{ 0, cos, -sin },
{ 0, sin, cos }
}));
case CartesianDimension.Y:
return(genNodes(new double[, ]
{
{ cos, 0, sin },
{ 0, 1, 0 },
{ -sin, 0, cos }
}));
case CartesianDimension.Z:
return(genNodes(new double[, ]
{
{ cos, -sin, 0 },
{ sin, cos, 0 },
{ 0, 0, 1 }
}));
default:
return(null);
}
}
public RotationMatrix(CartesianDimension dimension, double radians, Frame baseFrame, Frame toFrame) : base(
BuildRotationMatrix(dimension, radians), baseFrame, toFrame)
{
if (radians.Equals(double.NaN) || radians.Equals(double.NegativeInfinity) ||
radians.Equals(double.PositiveInfinity))
{
throw new ArgumentException("must be a valid double", nameof(radians));
}
}
public RotationMatrix(CartesianDimension dimension, double radians) : this(dimension, radians, null, null)
{
}
