public void Rotate(Line3 pLine, float radians)
{
var vector = (pLine.Point2 - pLine.Point1).NormalizeSafe();
Position -= pLine.Point1;
LookAtPosition -= pLine.Point1;
UpPosition -= pLine.Point1;
Position = Position.RotateAround(vector, radians);
LookAtPosition = LookAtPosition.RotateAround(vector, radians);
UpPosition = UpPosition.RotateAround(vector, radians);
Position += pLine.Point1;
LookAtPosition += pLine.Point1;
UpPosition += pLine.Point1;
}
public void RotateAroundLookPositionWorld(Vector3 radians)
{
var matrix = Matrix3.Identity;
matrix = matrix.RotateAroundWorldAxisX(radians.X);
matrix = matrix.RotateAroundWorldAxisY(radians.Y);
matrix = matrix.RotateAroundWorldAxisZ(radians.Z);
Position -= LookAtPosition;
Position = Position.Transform(matrix);
Position += LookAtPosition;
UpPosition -= LookAtPosition;
UpPosition = UpPosition.Transform(matrix);
UpPosition += LookAtPosition;
}
public void RotateAroundPosition(Vector3 radians)
{
var matrix = Matrix3.LookAt((LookAtPosition - Position), (UpPosition - Position));
var matrixTranspose = matrix.Transpose();
matrix = matrix.RotateAroundAxisX(radians.X);
matrix = matrix.RotateAroundAxisY(radians.Y);
matrix = matrix.RotateAroundAxisZ(radians.Z);
LookAtPosition -= Position;
LookAtPosition = LookAtPosition.Transform(matrixTranspose);
LookAtPosition = LookAtPosition.Transform(matrix);
LookAtPosition += Position;
UpPosition -= Position;
UpPosition = UpPosition.Transform(matrixTranspose);
UpPosition = UpPosition.Transform(matrix);
UpPosition += Position;
}
