public void combine(VecRotation r)
{
toQuaternion();
if (r == null) return;
double qax = X;
double qay = Y;
double qaz = Z;
double qaw = Angle;
double s = Math.Sin(r.Angle / 2);
double qbx = r.X * s;
double qby = r.Y * s;
double qbz = r.Z * s;
double qbw = Math.Cos(r.Angle / 2);
// now multiply the quaternions
Angle = (double)(qaw * qbw - qax * qbx - qay * qby - qaz * qbz);
X = (double)(qax * qbw + qaw * qbx + qay * qbz - qaz * qby);
Y = (double)(qaw * qby - qax * qbz + qay * qbw + qaz * qbx);
Z = (double)(qaw * qbz + qax * qby - qay * qbx + qaz * qbw);
toAxisAngle();
}
| VecRotation::combine ( double heading, double attitude, double bank ) : void |
void RotateZ(double angle)
{
Fractrace.Geometry.VecRotation rotation = new VecRotation();
rotation.FromEuler(Math.PI * ParameterDict.Current.GetDouble("Transformation.Camera.AngleX") / 180.0,
Math.PI * ParameterDict.Current.GetDouble("Transformation.Camera.AngleY") / 180.0,
Math.PI * ParameterDict.Current.GetDouble("Transformation.Camera.AngleZ") / 180.0);
rotation.Normalize();
rotation.combine(0, 0, angle);
double ax = 0, ay = 0, az = 0;
rotation.toEuler(ref ax, ref ay, ref az);
ax = 180 * ax / Math.PI;
ay = 180 * ay / Math.PI;
az = 180 * az / Math.PI;
ParameterDict.Current.SetDouble("Transformation.Camera.AngleX", ax);
ParameterDict.Current.SetDouble("Transformation.Camera.AngleY", ay);
ParameterDict.Current.SetDouble("Transformation.Camera.AngleZ", az);
}