// Rotate a vector
// @param v the vector to be rotated
// @returns the resulting rotated vector
public Vector3D Rotate(Vector3D v)
{
Vector3D _i = this.Imaginary();
Vector3D _n = new Vector3D(Vector3D.VectorProduct(_i, v));
Vector3D delta = new Vector3D(_r * _n - (Vector3D.VectorProduct(_n, _i)));
return(new Vector3D(v + 2.0f * delta));
}
// Rotate a line segment.
// param l the line segment to be rotated
// @returns the resulting rotated line segment
public LineSeg3D Rotate(LineSeg3D l)
{
// Simply rotate both lines
Vector3D i = this.Imaginary();
Vector3D ns = new Vector3D(Vector3D.VectorProduct(i, l.StartPoint()));
Vector3D ne = new Vector3D(Vector3D.VectorProduct(i, l.EndPoint()));
Vector3D deltas = new Vector3D(_r * ns - (Vector3D)(Vector3D.VectorProduct(ns, i)));
Vector3D deltae = new Vector3D(_r * ne - (Vector3D)(Vector3D.VectorProduct(ne, i)));
LineSeg3D result = new LineSeg3D(l.StartPoint() + 2.0f * deltas, l.EndPoint() + 2.0f * deltae);
return(result);
}