public AffineTransform3(Quat orientation, Vec3 scale, Vec3 translation)
{
Transform = Mat3.FromQuaternion(orientation) * scale;
Translation = translation;
}
public AffineTransform3(Mat3 transform, Vec3 translation)
{
Transform = transform;
Translation = translation;
}
public AffineTransform3(Vec3 translation)
{
Transform = Mat3.identity;
Translation = translation;
}
public static Mat4 FromRigidTransform(RigidTransform3 transform)
{
return(Mat4.FromAffineTransform(Mat3.FromQuaternion(transform.rotation), transform.position));
}
public Line3 Transform(Mat3 matrix)
{
return(new Line3(point1.Transform(matrix), point2.Transform(matrix)));
}
public static void FromScale(Vec3 scale, out Mat3 result)
{
result.x = new Vec3(scale.x, 0, 0);
result.y = new Vec3(0, scale.y, 0);
result.z = new Vec3(0, 0, scale.z);
}
public static void FromScale(float scale, out Mat3 result)
{
result.x = new Vec3(scale, 0, 0);
result.y = new Vec3(0, scale, 0);
result.z = new Vec3(0, 0, scale);
}
public Vec3 Transform(Mat3 matrix)
{
return((matrix.x * x) + (matrix.y * y) + (matrix.z * z));
}
