Method aimAt

src/model/GlareSensor.cpp:221–245

    }

    bool GlareSensor_Impl::aimAt(const Point3d& target) {
      Point3d position = this->position();
      Vector3d vector = target - position;

      if (!vector.normalize()) {
        return false;
      }

      Vector3d yAxis(0, 1, 0);
      Vector3d rotationAxis = yAxis.cross(vector);

      if (!rotationAxis.normalize()) {
        return false;
      }

      double angle = getAngle(yAxis, vector);
      Transformation transformation = Transformation::rotation(rotationAxis, angle);
      EulerAngles eulerAngles = transformation.eulerAngles();

      this->setPsiRotationAroundXAxis(eulerAngles.psi());
      this->setThetaRotationAroundYAxis(eulerAngles.theta());
      this->setPhiRotationAroundZAxis(eulerAngles.phi());

      return true;
    }

    //bool GlareSensor_Impl::isPrimaryGlareSensor() const
    //{