public CameraTransform(Point3D position, Quaternion rotation)
{
DefaultPosition = new Point3D(position);
DefaultRotation = new Quaternion(rotation);
Position = new Point3D(position);
Rotation = new Quaternion(rotation);
}
public void Reset()
{
Position = new Point3D(DefaultPosition);
Rotation = new Quaternion(DefaultRotation);
}
public void Roll(double angle)
{
Rotation = GetRotateQuaternion(GetRollAxis(), angle) * Rotation;
}
public void Pitch(double angle)
{
Rotation = GetRotateQuaternion(GetPitchAxis(), angle) * Rotation;
}
public void Yaw(double angle)
{
Rotation = GetRotateQuaternion(GetYawAxis(), angle) * Rotation;
}
private static Point3D Rotate(Quaternion rotation, Point3D point)
{
Quaternion result = rotation * (new Quaternion(0.0, point.X, point.Y, point.Z)) * rotation.GetConjugate();
return new Point3D(result.I, result.J, result.K);
}
