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public static Rotate ( float theta, float3 u ) : |
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| theta | float | |
| u | float3 | |
| return | ||
public static float3x3 Rotate(float theta, float3 u)
{
if (theta == 0f) return Identity;
float3 w = new float3(theta * u.x, theta * u.y, theta * u.z);
float3x3 wx = w.CRS;
return Identity + (((float)Math.Sin(theta)) / theta) * wx + ((1 - ((float)Math.Cos(theta))) / (theta * theta)) * (wx * wx);
}