public static void Multiply(ref RigidTransform3 rigidTransform, ref AffineTransform3 affineTransform, out AffineTransform3 result)
{
Matrix3.FromQuaternion(ref rigidTransform.Orientation, out result.Transform);
Matrix3.Multiply(ref result.Transform, ref affineTransform.Transform, out result.Transform);
Vector3.Transform(ref rigidTransform.Position, ref affineTransform.Transform, out result.Translation);
result.Translation += affineTransform.Translation;
}
public Vector3 Transform(AffineTransform3 transform)
{
return this.Transform(transform.Transform) + transform.Translation;
}
public static void Transform(ref Vector3 vector, ref AffineTransform3 transform, out Vector3 result)
{
Vector3.Transform(ref vector, ref transform.Transform, out result);
result += transform.Translation;
}
public static void FromAffineTransform(ref AffineTransform3 transform, out Matrix4 result)
{
result.X.X = transform.Transform.X.X;
result.X.Y = transform.Transform.X.Y;
result.X.Z = transform.Transform.X.Z;
result.X.W = transform.Translation.X;
result.Y.X = transform.Transform.Y.X;
result.Y.Y = transform.Transform.Y.Y;
result.Y.Z = transform.Transform.Y.Z;
result.Y.W = transform.Translation.Y;
result.Z.X = transform.Transform.Z.X;
result.Z.Y = transform.Transform.Z.Y;
result.Z.Z = transform.Transform.Z.Z;
result.Z.W = transform.Translation.Z;
result.W.X = 0;
result.W.Y = 0;
result.W.Z = 0;
result.W.W = 1;
}
public static Matrix4 FromAffineTransform(AffineTransform3 transform)
{
return new Matrix4
(
new Vector4(transform.Transform.X, transform.Translation.X),
new Vector4(transform.Transform.Y, transform.Translation.Y),
new Vector4(transform.Transform.Z, transform.Translation.Z),
new Vector4(0, 0, 0, 1)
);
}
public static void Transform(ref Vector3 vector, ref AffineTransform3 transform, out Vector3 result)
{
Vector3.Transform(ref vector, ref transform.Transform, out result);
result += transform.Translation;
}
public Vector3 Transform(AffineTransform3 transform)
{
return(this.Transform(transform.Transform) + transform.Translation);
}
public static void Invert(ref AffineTransform3 transform, out AffineTransform3 result)
{
Matrix3.Invert(ref transform.Transform, out result.Transform);
Vector3.Transform(ref transform.Translation, ref result.Transform, out result.Translation);
result.Translation = -result.Translation;
}
public static void FromRigidTransform(ref RigidTransform3 transform, out AffineTransform3 result)
{
result.Translation = transform.Position;
Matrix3.FromQuaternion(ref transform.Orientation, out result.Transform);
}
