public static M33d Multiply(Rot2d rot2, Rot3d rot3)
{
return(Rot2d.Multiply(rot2, (M33d)rot3));
}
/// <summary>
/// Multiplies 2 Euclidean transformations.
/// This concatenates the two rigid transformations into a single one, first b is applied, then a.
/// Attention: Multiplication is NOT commutative!
/// </summary>
public static Euclidean2d Multiply(Euclidean2d a, Euclidean2d b)
{
//a.Rot * b.Rot, a.Trans + a.Rot * b.Trans
return(new Euclidean2d(Rot2d.Multiply(a.Rot, b.Rot), a.Trans + a.Rot.TransformDir(b.Trans)));
}
/// <summary>
/// </summary>
public static M33d operator *(Rot2d rot, Scale3d scale)
{
return(Rot2d.Multiply(rot, scale));
}
/// <summary>
/// </summary>
public static M34d operator *(Rot2d rot, Shift3d shift)
{
return(Rot2d.Multiply(rot, shift));
}
/// <summary>
/// </summary>
public static Rot2d operator *(Rot2d r0, Rot2d r1)
{
return(Rot2d.Multiply(r0, r1));
}
/// <summary>
/// </summary>
public static M33d operator *(Rot2d rot2, Rot3d rot3)
{
return(Rot2d.Multiply(rot2, rot3));
}
/// <summary>
/// </summary>
public static M44d operator *(Rot2d rot, M44d mat)
{
return(Rot2d.Multiply(rot, mat));
}
/// <summary>
/// </summary>
public static V4d operator *(Rot2d rot, V4d vec)
{
return(Rot2d.Multiply(rot, vec));
}
/// <summary>
/// Multiplies rotation with scalar value.
/// </summary>
public static Rot2d operator *(double val, Rot2d rot)
{
return(Rot2d.Multiply(rot, val));
}