/// <summary>
/// Z軸(001)を引数のベクトルvに回転させる行列を生成する
/// </summary>
/// <param name="v"></param>
/// <returns></returns>
public static M3d CreateRotationFromZ(V3d v)
{
v.Normalize();
if (Math.Abs(v.Z - 1) < Th)
{
return(M3d.Identity);
}
else if (Math.Abs(v.Z + 1) < Th)
{
return(M3d.CreateRotationX(Math.PI));
}
else
{
return(M3d.CreateFromAxisAngle(V3d.Cross(v, Z), V3d.CalculateAngle(Z, v)));
}
}
void LookAt(double eyeX,double eyeY,double eyeZ,double centerX,double centerY,double centerZ,double upX,double upY,double upZ)
{
OpenTK.Vector3d F = new OpenTK.Vector3d(centerX - eyeX, centerX - eyeY, centerZ - eyeZ);
OpenTK.Vector3d UP = new OpenTK.Vector3d(upX, upY, upZ);
F.Normalize();
UP.Normalize();
OpenTK.Vector3d s = new OpenTK.Vector3d(F.Y * UP.Z - F.Z * UP.Y,
F.Z * UP.X - F.X * UP.Z,
F.X * UP.Y - F.Y * UP.X);
OpenTK.Vector3d u = new OpenTK.Vector3d(s.Y * F.Z - s.Z * F.Y,
s.Z * F.X - s.X * F.Z,
s.X * F.Y - s.Y * F.X);
OpenTK.Matrix4d m = new OpenTK.Matrix4d(s.X, s.Y, s.Z, 0, u.X, u.Y, u.Z, 0, -F.X, -F.Y, -F.Z, 0, 0, 0, 0, 1);
GL.MultMatrix(ref m);
GL.Translate(-eyeX, -eyeY, -eyeZ);
}
/// <summary>
/// Z軸(001)を引数のベクトルvに回転させる行列を生成する
/// </summary>
/// <param name="v"></param>
/// <returns></returns>
public static M3d CreateRotationToZ(V3d v)
{
M3d rot;
v.Normalize();
if (Math.Abs(v.Z - 1) < Th)
{
rot = M3d.Identity;
}
else if (Math.Abs(v.Z + 1) < Th)
{
rot = M3d.CreateRotationX(Math.PI);
}
else
{
rot = M3d.CreateFromAxisAngle(V3d.Cross(Z, v), V3d.CalculateAngle(Z, v));
}
return(rot);
}
