/// <summary>
/// Transforms a point between coordinate systems.
/// </summary>
/// <param name="point">Point to transform.</param>
/// <param name="zAxis">Object normal vector.</param>
/// <param name="from">Point coordinate system.</param>
/// <param name="to">Coordinate system of the transformed point.</param>
/// <returns>Transformed point.</returns>
public static Vector3 Transform(Vector3 point, Vector3 zAxis, CoordinateSystem from, CoordinateSystem to)
{
Matrix3 trans = ArbitraryAxis(zAxis);
switch (from)
{
case CoordinateSystem.World when to == CoordinateSystem.Object:
trans = trans.Transpose();
return(trans * point);
case CoordinateSystem.Object when to == CoordinateSystem.World:
return(trans * point);
default:
return(point);
}
}
/// <summary>
/// Transforms a point list between coordinate systems.
/// </summary>
/// <param name="points">Points to transform.</param>
/// <param name="zAxis">Object normal vector.</param>
/// <param name="from">Points coordinate system.</param>
/// <param name="to">Coordinate system of the transformed points.</param>
/// <returns>Transformed point list.</returns>
public static List <Vector3> Transform(IEnumerable <Vector3> points, Vector3 zAxis, CoordinateSystem from, CoordinateSystem to)
{
if (points == null)
{
throw new ArgumentNullException(nameof(points));
}
if (zAxis.Equals(Vector3.UnitZ))
{
return(new List <Vector3>(points));
}
Matrix3 trans = ArbitraryAxis(zAxis);
List <Vector3> transPoints;
switch (from)
{
case CoordinateSystem.World when to == CoordinateSystem.Object:
{
transPoints = new List <Vector3>();
trans = trans.Transpose();
foreach (Vector3 p in points)
{
transPoints.Add(trans * p);
}
return(transPoints);
}
case CoordinateSystem.Object when to == CoordinateSystem.World:
{
transPoints = new List <Vector3>();
foreach (Vector3 p in points)
{
transPoints.Add(trans * p);
}
return(transPoints);
}
default:
return(new List <Vector3>(points));
}
}
/// <summary>
/// Transforms a point between coordinate systems.
/// </summary>
/// <param name="point">Point to transform.</param>
/// <param name="zAxis">Object normal vector.</param>
/// <param name="from">Point coordinate system.</param>
/// <param name="to">Coordinate system of the transformed point.</param>
/// <returns>Transformed point.</returns>
public static Vector3 Transform(Vector3 point, Vector3 zAxis, CoordinateSystem from, CoordinateSystem to)
{
// if the normal is (0,0,1) no transformation is needed the transformation matrix is the identity
if (zAxis.Equals(Vector3.UnitZ))
{
return(point);
}
Matrix3 trans = ArbitraryAxis(zAxis);
if (from == CoordinateSystem.World && to == CoordinateSystem.Object)
{
trans = trans.Transpose();
return(trans * point);
}
if (from == CoordinateSystem.Object && to == CoordinateSystem.World)
{
return(trans * point);
}
return(point);
}
/// <summary>
/// Transforms a point between coordinate systems.
/// </summary>
/// <param name="point">Point to transform.</param>
/// <param name="zAxis">Object normal vector.</param>
/// <param name="from">Point coordinate system.</param>
/// <param name="to">Coordinate system of the transformed point.</param>
/// <returns>Transformed point.</returns>
public static Vector3 Transform(Vector3 point, Vector3 zAxis, CoordinateSystem from, CoordinateSystem to)
{
// if the normal is (0,0,1) no transformation is needed the transformation matrix is the identity
if (zAxis.Equals(Vector3.UnitZ))
{
return(point);
}
Matrix3 trans = ArbitraryAxis(zAxis);
switch (from)
{
case CoordinateSystem.World when to == CoordinateSystem.Object:
trans = trans.Transpose();
return(trans * point);
case CoordinateSystem.Object when to == CoordinateSystem.World:
return(trans * point);
default:
return(point);
}
}
/// <summary>
/// Transforms a point list between coordinate systems.
/// </summary>
/// <param name="points">Points to transform.</param>
/// <param name="zAxis">Object normal vector.</param>
/// <param name="from">Points coordinate system.</param>
/// <param name="to">Coordinate system of the transformed points.</param>
/// <returns>Transformed point list.</returns>
public static IList <Vector3> Transform(IEnumerable <Vector3> points, Vector3 zAxis, CoordinateSystem from, CoordinateSystem to)
{
if (points == null)
{
throw new ArgumentNullException("points");
}
if (zAxis.Equals(Vector3.UnitZ))
{
return(new List <Vector3>(points));
}
Matrix3 trans = ArbitraryAxis(zAxis);
List <Vector3> transPoints;
if (from == CoordinateSystem.World && to == CoordinateSystem.Object)
{
transPoints = new List <Vector3>();
trans = trans.Transpose();
foreach (Vector3 p in points)
{
transPoints.Add(trans * p);
}
return(transPoints);
}
if (from == CoordinateSystem.Object && to == CoordinateSystem.World)
{
transPoints = new List <Vector3>();
foreach (Vector3 p in points)
{
transPoints.Add(trans * p);
}
return(transPoints);
}
return(new List <Vector3>(points));
}
