public void RotateRelative(double x, double y, double z)
{
#if true
if (x != 0)
{
Matrix4X4 M1 = Matrix4X4.Identity;
M1 = Matrix4X4.CreateRotationX(x);
if (y != 0)
{
Matrix4X4 M2 = Matrix4X4.Identity;
Matrix4X4 M4 = Matrix4X4.Identity;
M2 = Matrix4X4.CreateRotationY(y);
M4 = M2 * M1;
if (z != 0)
{
Matrix4X4 M3 = Matrix4X4.Identity;
M3 = Matrix4X4.CreateRotationZ(z);
Matrix4X4 Delta = Matrix4X4.Identity;
Delta = M3 * M4;
AxisToWorld *= Delta;
}
else
{
AxisToWorld *= M4;
}
}
else
{
if (z != 0)
{
Matrix4X4 M3 = Matrix4X4.Identity;
M3 = Matrix4X4.CreateRotationZ(z);
Matrix4X4 Delta = Matrix4X4.Identity;
Delta = M3 * M1;
AxisToWorld *= Delta;
}
else
{
AxisToWorld *= M1;
}
}
}
else
{
if (y != 0)
{
Matrix4X4 M2 = Matrix4X4.Identity;
M2 = Matrix4X4.CreateRotationY(y);
if (z != 0)
{
Matrix4X4 M3 = Matrix4X4.Identity;
M3 = Matrix4X4.CreateRotationZ(z);
Matrix4X4 Delta = Matrix4X4.Identity;
Delta = M3 * M2;
AxisToWorld *= Delta;
}
else
{
AxisToWorld *= M2;
}
}
else
{
if (z != 0)
{
Matrix4X4 M3 = Matrix4X4.Identity;
M3 = Matrix4X4.CreateRotationZ(z);
AxisToWorld *= M3;
}
}
}
WorldToAxis = Matrix4X4.Invert(AxisToWorld);
#else
M1.Rotate(0, x);
M2.Rotate(1, y);
M3.Rotate(2, z);
// 1 * 2 * 3
M4 = M2 * M1;
Delta = M3 * M4;
AxisToWorld = AxisToWorld * Delta;
WorldToAxis = AxisToWorld.GetInverse();
#endif
}