From f311b347e2d1f0ba173516e93f3c24299a9c70bc Mon Sep 17 00:00:00 2001
From: fairendil <fairendil@gmail.com>
Date: Sat, 4 Nov 2023 06:48:18 +0300
Subject: [PATCH] There was a bug in the TransformFromCoordSys and
 TransformToCoordSys methods. The bug occurred when calculating the
 BaseChangeMatrix and a copy of the coordinate system was rotated instead of
 the base coordinate system rotation. This resulted in the OffsetToBase being
 added twice, causing an issue in the transformation process.

---
 src/Spatial/Euclidean/CoordinateSystem.cs | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/Spatial/Euclidean/CoordinateSystem.cs b/src/Spatial/Euclidean/CoordinateSystem.cs
index ed53dd1..5f3584a 100644
--- a/src/Spatial/Euclidean/CoordinateSystem.cs
+++ b/src/Spatial/Euclidean/CoordinateSystem.cs
@@ -161,9 +161,9 @@ public CoordinateSystem BaseChangeMatrix
             get
             {
                 var matrix = Build.DenseOfColumnVectors(XAxis.ToVector(), YAxis.ToVector(), ZAxis.ToVector());
-                var cs = new CoordinateSystem(this);
-                cs.SetRotationSubMatrix(matrix.Transpose());
-                return cs;
+                var baseCs = new CoordinateSystem();
+                baseCs.SetRotationSubMatrix(matrix.Transpose());
+                return baseCs;
             }
         }
 
@@ -256,7 +256,7 @@ public static CoordinateSystem Rotation(Angle angle, Vector3D v)
         /// <returns>A rotated coordinate system</returns>
         public static CoordinateSystem Rotation(Angle yaw, Angle pitch, Angle roll)
         {
-            var cs = new CoordinateSystem(); 
+            var cs = new CoordinateSystem();
             var cosY = yaw.Cos;
             var sinY = yaw.Sin;
             var cosP = pitch.Cos;
@@ -276,7 +276,7 @@ public static CoordinateSystem Rotation(Angle yaw, Angle pitch, Angle roll)
             cs[1, 2] = sinY * sinP * cosR - cosY * sinR;
             cs[2, 2] = cosP * cosR;
 
-            return cs; 
+            return cs;
         }
         /// <summary>
         /// Rotates around Z
@@ -354,7 +354,7 @@ public static CoordinateSystem Translation(Vector3D translation)
         /// <summary>
         /// Creates a rotating coordinate system
         /// </summary>
-        /// <param name="r">A 3×3 matrix with the rotation portion</param>
+        /// <param name="r">A 3�3 matrix with the rotation portion</param>
         /// <param name="coordinateSystem">A rotated coordinate system</param>
         /// <returns>A rotating coordinate system</returns>
         public static CoordinateSystem SetRotationSubMatrix(Matrix<double> r, CoordinateSystem coordinateSystem)