问如何在曲面或边的每个顶点上创建一条多点直线

EN

Transformation pointNormalTransformation(Point3D point, Vector3D normal)
{
    Vector3D direction = normal;
    direction.Normalize();
    Vector3D rotAbout = Vector3D.Cross(Vector3D.AxisZ, direction);
    rotAbout.Normalize();
    double angleBetween = Vector3D.AngleBetween(Vector3D.AxisZ, direction);

    Translation trans = new Translation(point.X, point.Y, point.Z);
    Rotation rot = new Rotation(angleBetween, rotAbout, Point3D.Origin);
    return trans * rot;
}

// These are what you already have
Entity toolCenterPoint = Mesh.CreateBox(1.0,1.0,1.0);
Point3D XYZ = new Point3D(x, y, z);
Vector3D IJK = new Vector3D(i, j, k);

// Need a transformation to move your entity
Transformation newPosition = pointNormalTransformation(XYZ, IJK);
// Need last transformation to move your entity back to origin.
Transformation lastPosition = new Transformation(1.0);

//  Loop this with updated positions
//
lastPosition.Invert(); 
toolCenterPoint.TransformBy(lastPosition); // return end effector (TCP) back to origin
toolCenterPoint.TransformBy(newPosition); // move TCP from origin to location
lastPosition = newPosition;
// end loop