/// <summary>
///
/// </summary>
/// <param name="eye"></param>
/// <param name="target"></param>
/// <param name="up"></param>
/// <returns></returns>
public static Orient3d CreateLookAt(Vec3d eye, Vec3d target, Vec3d up)
{
var rot = new Rotation3d(target - eye, up);
rot.SwapZX();
var orient = new Orient3d(rot, eye);
orient.Invert();
return(orient);
}
/// <summary>
///
/// </summary>
/// <param name="r0"></param>
/// <param name="r1"></param>
public static Rotation3d CreateRelative(ref Rotation3d r0, ref Rotation3d r1)
{
return(r1.Apply(r0.Inverse));
}
/// <summary>
/// Creates a relative rotation from r0 to r1.
/// </summary>
/// <param name="r0"></param>
/// <param name="r1"></param>
/// <returns></returns>
public static Rotation3d CreateRelative(Rotation3d r0, Rotation3d r1)
{
return(CreateRelative(ref r0, ref r1));
}
/// <summary>
///
/// </summary>
/// <param name="r0"></param>
/// <param name="r1"></param>
public static Rotation3d Multiply(ref Rotation3d r0, ref Rotation3d r1)
{
return(r0.Apply(r1));
}
/// <summary>
///
/// </summary>
/// <param name="rotation"></param>
/// <param name="vector"></param>
public static Vec3d Multiply(ref Rotation3d rotation, Vec3d vector)
{
return(rotation.Apply(vector));
}
/// <summary>
/// Applies the inverse of this rotation to the given rotation.
/// </summary>
/// <param name="other"></param>
/// <returns></returns>
public Rotation3d ApplyInverse(Rotation3d other)
{
other.SetXY(ApplyInverse(other._x), ApplyInverse(other._y));
return(other);
}
/// <summary>
///
/// </summary>
/// <param name="scale"></param>
/// <param name="orientation"></param>
public Transform3d(Vec3d scale, Orient3d orientation)
{
Scale = scale;
Rotation = orientation.Rotation;
Translation = orientation.Translation;
}
/// <summary>
///
/// </summary>
/// <param name="scale"></param>
/// <param name="rotation"></param>
/// <param name="translation"></param>
public Transform3d(Vec3d scale, Rotation3d rotation, Vec3d translation)
{
Scale = scale;
Rotation = rotation;
Translation = translation;
}
/// <summary>
///
/// </summary>
/// <param name="origin"></param>
/// <param name="x"></param>
/// <param name="y"></param>
public Orient3d(Vec3d origin, Vec3d x, Vec3d y)
{
Rotation = new Rotation3d(x, y);
Translation = origin;
}
/// <summary>
///
/// </summary>
/// <param name="rotation"></param>
/// <param name="translation"></param>
public Orient3d(Rotation3d rotation, Vec3d translation)
{
Rotation = rotation;
Translation = translation;
}
/// <summary>
/// Applies the inverse of this rotation to the given rotation.
/// </summary>
/// <param name="other"></param>
/// <returns></returns>
public void ApplyInverse(ref Rotation3d other)
{
other.SetXY(ApplyInverse(other._x), ApplyInverse(other._y));
}
/// <summary>
/// Applies the inverse of this rotation to the given rotation.
/// </summary>
/// <param name="other"></param>
/// <returns></returns>
public Rotation3d ApplyInverse(Rotation3d other)
{
ApplyInverse(ref other);
return(other);
}
/// <summary>
/// Applies this rotation to the given rotation.
/// </summary>
/// <param name="other"></param>
/// <returns></returns>
public Rotation3d Apply(Rotation3d other)
{
Apply(ref other);
return(other);
}
/// <summary>
/// http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToAngle/index.htm
/// </summary>
/// <param name="rotation"></param>
public AxisAngle3d(ref Rotation3d rotation)
: this()
{
throw new NotImplementedException();
}
