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 AffineTransform3 Multiply(ref RigidTransform3 transform)
{
AffineTransform3 result;
Matrix3.FromQuaternion(ref transform.Orientation, out result.Transform);
Matrix3.Multiply(ref result.Transform, ref Transform, out result.Transform);
Vector3.Transform(ref transform.Position, ref Transform, out result.Translation);
result.Translation += Translation;
return(result);
}
public static void RotateAround(ref Matrix3 matrix, ref Vector3 axis, float angle, out Matrix3 result)
{
// rotate into world space
var quaternion = Reign.Core.Quaternion.FromRotationAxis(axis, 0);
Reign.Core.Quaternion.Conjugate(ref quaternion, out quaternion);
Matrix3.FromQuaternion(ref quaternion, out result);
Matrix3.Multiply(ref matrix, ref result, out result);
// rotate back to matrix space
Reign.Core.Quaternion.FromRotationAxis(ref axis, angle, out quaternion);
var qMat = Matrix3.FromQuaternion(quaternion);
Matrix3.Multiply(ref result, ref qMat, out result);
}
public Matrix3 RotateAround(ref Vector3 axis, float angle)
{
// rotate into world space
var quaternion = Reign.Core.Quaternion.FromRotationAxis(axis, 0);
Reign.Core.Quaternion.Conjugate(ref quaternion, out quaternion);
var worldSpaceMatrix = Matrix3.FromQuaternion(quaternion);
Matrix3.Multiply(ref this, ref worldSpaceMatrix, out worldSpaceMatrix);
// rotate back to matrix space
Reign.Core.Quaternion.FromRotationAxis(ref axis, angle, out quaternion);
var qMat = Matrix3.FromQuaternion(quaternion);
Matrix3.Multiply(ref worldSpaceMatrix, ref qMat, out worldSpaceMatrix);
return(worldSpaceMatrix);
}