/// <summary>
///
/// </summary>
/// <param name="r0"></param>
/// <param name="r1"></param>
/// <param name="p0"></param>
/// <param name="p1"></param>
public void Set(Vec3d p0, Quaterniond r0, Vec3d p1, Quaterniond r1)
{
r0.Invert();
_r10 = r0.Apply(r1);
_d10 = r0.Apply(p1 - p0);
r1.Invert();
_d01 = r1.Apply(p0 - p1);
}
/// <summary>
/// Transforms a vector by a quaternion rotation.
/// </summary>
/// <param name="vec">The vector to transform.</param>
/// <param name="quat">The quaternion to rotate the vector by.</param>
/// <param name="result">The result of the operation.</param>
public static void Transform(ref Vector2d vec, ref Quaterniond quat, out Vector2d result)
{
Quaterniond v = new Quaterniond(vec.X, vec.Y, 0, 0), i, t;
Quaterniond.Invert(ref quat, out i);
Quaterniond.Multiply(ref quat, ref v, out t);
Quaterniond.Multiply(ref t, ref i, out v);
result = new Vector2d(v.X, v.Y);
}
public override void Undo()
{
base.Undo();
for (int i = 0; i < m_affectedActors.Count; i++)
{
if (m_transformSpace == FTransformSpace.Local)
{
m_affectedActors[i].Transform.Rotation *= Quaterniond.Invert(m_delta);
}
else
{
m_affectedActors[i].Transform.Rotation = Quaterniond.Invert(m_delta) * m_affectedActors[i].Transform.Rotation;
}
}
m_mode.UpdateGizmoTransform();
}