public static void CreateFromAffineTransform()
{
Assert.That(() => Matrix4x4.CreateFromAffineTransform(AffineTransform.Create(Quaternion.CreateFromAxisAngle(Vector3.UnitX, 0.5f), Vector3.One, Vector3.Zero)),
Is.EqualTo(Matrix4x4.Create(
UnitX,
Vector128.Create(0.0f, +0.87758255f, 0.47942555f, 0.0f),
Vector128.Create(0.0f, -0.47942555f, 0.87758255f, 0.0f),
UnitW
))
);
Assert.That(() => Matrix4x4.CreateFromAffineTransform(AffineTransform.Create(Quaternion.Identity, Vector3.Create(1.0f, 2.0f, 3.0f), Vector3.Zero)),
Is.EqualTo(Matrix4x4.Create(
UnitX,
Vector128.Create(0.0f, 2.0f, 0.0f, 0.0f),
Vector128.Create(0.0f, 0.0f, 3.0f, 0.0f),
UnitW
))
);
Assert.That(() => Matrix4x4.CreateFromAffineTransform(AffineTransform.Create(Quaternion.Identity, Vector3.One, Vector3.Create(1.0f, 2.0f, 3.0f))),
Is.EqualTo(Matrix4x4.Create(
UnitX,
UnitY,
UnitZ,
Vector128.Create(1.0f, 2.0f, 3.0f, 1.0f)
))
);
}
public static void ComponentsReturnCorrectValues(Quaternion rotation, Vector3 rotationOrigin, Vector3 scale, Vector3 translation)
{
var transform = AffineTransform.Create(rotation, scale, translation);
Assert.That(transform.Rotation, Is.EqualTo(rotation));
Assert.That(transform.Scale, Is.EqualTo(scale));
Assert.That(transform.Translation, Is.EqualTo(translation));
}
public static void TransformsCompareNotEqual(Quaternion rotation, Vector3 rotationOrigin, Vector3 scale, Vector3 translation)
{
var a = AffineTransform.Create(rotation, scale, translation);
var b = AffineTransform.Create(rotation, scale, translation);
var c = AffineTransform.Create(rotation.WithY(1), scale, translation);
Assert.That(a, Is.Not.EqualTo(c));
Assert.That(a, Is.EqualTo(b));
}
void DisplayTrajectory()
{
try
{
AffineTransform worldRootTransform = AffineTransform.Create(targetJoints[0].position, targetJoints[0].rotation);
DebugExtensions.DebugDrawTrajectory(worldRootTransform, sampleTrajectory, assetSampleRate, trajectoryColor, trajectoryColor);
}
catch (MissingReferenceException)
{
PreviewInvalidated?.Invoke();
}
}
public AffineTransform Evaluate(float sampleTimeInSeconds)
{
return(AffineTransform.Create(
positions.Evaluate(sampleTimeInSeconds),
rotations.Evaluate(sampleTimeInSeconds)));
}
public AffineTransform this[int index] => AffineTransform.Create(positions[index], rotations[index]);
AffineTransform GetAnchor(AffineTransform rootTransform, float distance, Camera camera)
{
return(AffineTransform.Create(rootTransform.t + (float3)camera.transform.right * distance, rootTransform.q));
}