public Mat3 FromRotationAxis(Vec3 axis, float angle)
{
Quat quaternion = Quat.FromRotationAxis(axis, angle);
return(FromQuaternion(quaternion));
}
public RigidTransform3(Vec3 position)
{
this.position = position;
rotation = Quat.Identity;
}
public RigidTransform3(Quat orienation)
{
position = new Vec3();
rotation = orienation;
}
public RigidTransform3(Quat orienation, Vec3 position)
{
rotation = orienation;
this.position = position;
}