// V 经过 R 变换后为 V', 函数返回 V'
// 要求 R 先归一化
PNT Ti_Rotation::VectorTransform(const PNT& V)const
{
Ti_Rotation R = *this;
if( (R.m_Angle>-DELTA_ROT) && (R.m_Angle<DELTA_ROT) )
return V;
R.m_Axis.Normalize();
QUATERNION Q = RotationToQuaternion(R);
Q.QuaternionNormalize();
return Q.VectorTransform(V);
}
Ti_Rotation Ti_Rotation::operator * (const Ti_Rotation& R2)const
{
Ti_Rotation R1 = *this;
if( (R1.m_Angle>-DELTA_ROT) && (R1.m_Angle<DELTA_ROT) )
{
return R2;
}
else if( (R2.m_Angle>-DELTA_ROT) && (R2.m_Angle<DELTA_ROT) )
{
return R1;
}
// 原始角度不为 0
Ti_Rotation R;
QUATERNION Q1= RotationToQuaternion(R1);
QUATERNION Q2 =RotationToQuaternion(R2);
QUATERNION Q = Q1*Q2; // 注意顺序
R=Q.QuaternionToRotation();
return R;
}
void TransformComponent::Rotate(Vector3f v, float angle)
{
Quaternion rq = RotationToQuaternion(v, angle);
rotation = UnitQuatProduct(rotation, rq);
}