/// <summary>
/// Apply the inverse local rotate/translate/scale at transform to frameIn
/// </summary>
public static Frame3f ApplyInverseTransform(ITransformed transform, Frame3f frameIn)
{
Frame3f result = transform.GetLocalFrame(CoordSpace.ObjectCoords).ToFrame(frameIn);
result.Scale(1.0f / transform.GetLocalScale());
return(result);
}
/// <summary>
/// Apply the inverse local rotate/translate/scale at transform to vector
/// </summary>
public static Vector3f ApplyInverseTransformV(ITransformed transform, Vector3f v)
{
Vector3f vInv = transform.GetLocalFrame(CoordSpace.ObjectCoords).ToFrameV(ref v);
Vector3f scale = transform.GetLocalScale();
return(vInv / scale);
}
/// <summary>
/// Apply the inverse local rotate/translate/scale at transform to frameIn
/// </summary>
public static Frame3f ApplyInverseTransform(ITransformed transform, Frame3f frameIn)
{
Frame3f result = transform.GetLocalFrame(CoordSpace.ObjectCoords).ToFrame(ref frameIn);
Vector3f scale = transform.GetLocalScale();
Util.gDevAssert(IsUniformScale(scale));
result.Scale(1.0f / scale);
return(result);
}
/// <summary>
/// Apply the local rotate/translate/scale at transform to frameIn
/// </summary>
public static Frame3f ApplyTransform(ITransformed transform, Frame3f frameIn)
{
Frame3f result = frameIn.Scaled(transform.GetLocalScale());
return(transform.GetLocalFrame(CoordSpace.ObjectCoords).FromFrame(result));
}
/// <summary>
/// Apply the local rotate/translate/scale at transform to vector
/// </summary>
public static Vector3f ApplyTransformV(ITransformed transform, Vector3f vIn)
{
Vector3f v = vIn * transform.GetLocalScale();
return(transform.GetLocalFrame(CoordSpace.ObjectCoords).FromFrameV(ref v));
}
/// <summary>
/// Apply the local rotate/translate/scale at transform to point
/// </summary>
public static Vector3f ApplyTransformP(ITransformed transform, Vector3f pIn)
{
Vector3f p = pIn * transform.GetLocalScale();
return(transform.GetLocalFrame(CoordSpace.ObjectCoords).FromFrameP(ref p));
}