public AngleAxis Divide(float scale)
{
AngleAxis aa = this;
aa.Divide(scale);
return(aa);
}
public AngleAxis Multiply(float scale)
{
AngleAxis aa = this;
aa.Multiply(scale);
return(aa);
}
// Combine two rotations (this is VERY costly).
// @param aa the inner rotation
// @returns the resulting rotation (like this*q for matrices)
public AngleAxis Multiply(AngleAxis aa)
{
// This is best done as quaternions
Quaternion q1 = new Quaternion(this);
Quaternion q2 = new Quaternion(aa);
return(new AngleAxis(q1.Multiply(q2)));
}
/// <summary>
/// The angle is recovered as angleaxis = angle and
/// the axis as axis = angleaxis / angle.
/// </summary>
/// <param name="angleaxis">the 3D vector whose size gives the angle and direction </param>
void Set(AngleAxis angleaxis)
{
float x = angleaxis.GetX();
float y = angleaxis.GetY();
float z = angleaxis.GetZ();
float angle = (float)Math.Sqrt(x * x + y * y + z * z);
if (angle > 0.0)
{
float s = (float)Math.Sin(angle / 2.0) / angle;
float c = (float)Math.Cos(angle / 2.0f);
_x = s * x;
_y = s * y;
_z = s * z;
_r = c;
}
else
{
_x = _y = _z = 0.0f;
_r = 1.0f;
}
}
public Quaternion(AngleAxis angleaxis)
{
Set(angleaxis);
}
/// <summary>
/// The angle is recovered as angleaxis = angle and
/// the axis as axis = angleaxis / angle.
/// </summary>
/// <param name="angleaxis">the 3D vector whose size gives the angle and direction </param>
void Set(AngleAxis angleaxis)
{
float x = angleaxis.GetX();
float y = angleaxis.GetY();
float z = angleaxis.GetZ();
float angle = (float)Math.Sqrt(x*x + y*y + z*z);
if (angle > 0.0)
{
float s = (float)Math.Sin(angle/2.0)/angle;
float c = (float)Math.Cos(angle/2.0f);
_x = s * x;
_y = s * y;
_z = s * z;
_r = c;
}
else
{
_x = _y = _z = 0.0f;
_r = 1.0f;
}
}
public Quaternion(AngleAxis angleaxis)
{
Set(angleaxis);
}
public bool NotEqualTo(AngleAxis aa)
{
return((aa._x != _x) || (aa._y != _y) || (aa._z != _z));
}
public bool Equals(AngleAxis aa)
{
return((aa._x == _x) && (aa._y == _y) && (aa._z == _z));
}
// Combine two rotations (this is VERY costly).
// @param aa the inner rotation
// @returns the resulting rotation (like this*q for matrices)
public AngleAxis Multiply (AngleAxis aa)
{
// This is best done as quaternions
Quaternion q1 = new Quaternion(this);
Quaternion q2 = new Quaternion(aa);
return new AngleAxis(q1.Multiply(q2));
}
public bool NotEqualTo (AngleAxis aa)
{
return ((aa._x != _x) || (aa._y != _y) || (aa._z != _z));
}
public bool Equals (AngleAxis aa)
{
return ((aa._x == _x) && (aa._y == _y) && (aa._z == _z));
}
