/// <summary>
///
/// </summary>
/// <param name="eye"></param>
/// <param name="target"></param>
/// <param name="up"></param>
/// <returns></returns>
public static Orient3d CreateLookAt(Vec3d eye, Vec3d target, Vec3d up)
{
var rot = new Rotation3d(target - eye, up);
rot.SwapZX();
var orient = new Orient3d(rot, eye);
orient.Invert();
return(orient);
}
/// <summary>
///
/// </summary>
/// <param name="scale"></param>
/// <param name="orientation"></param>
public Transform3d(Vec3d scale, Orient3d orientation)
{
Scale = scale;
Rotation = orientation.Rotation;
Translation = orientation.Translation;
}
/// <summary>
///
/// </summary>
/// <param name="t0"></param>
/// <param name="t1"></param>
public static Orient3d Multiply(ref Orient3d t0, ref Orient3d t1)
{
return(t0.Apply(t1));
}
/// <summary>
///
/// </summary>
/// <param name="orient"></param>
/// <param name="point"></param>
/// <returns></returns>
public static Vec3d Multiply(ref Orient3d orient, Vec3d point)
{
return(orient.Apply(point));
}
/// <summary>
/// Applies the inverse of this transformation to the given transformation.
/// </summary>
/// <param name="other"></param>
public Orient3d ApplyInverse(Orient3d other)
{
other.Rotation = Rotation.ApplyInverse(other.Rotation);
other.Translation = ApplyInverse(other.Translation);
return(other);
}
/// <summary>
///
/// </summary>
/// <param name="t0"></param>
/// <param name="t1"></param>
/// <returns></returns>
public static Orient3d CreateRelative(ref Orient3d t0, ref Orient3d t1)
{
return(t1.Apply(t0.Inverse));
}
/// <summary>
///
/// </summary>
/// <param name="from"></param>
/// <param name="to"></param>
/// <returns></returns>
public static Orient3d CreateFromTo(ref Orient3d from, ref Orient3d to)
{
return(to.Apply(from.Inverse));
}
/// <summary>
/// Creates a relative transformation from t0 to t1.
/// </summary>
/// <param name="t0"></param>
/// <param name="t1"></param>
/// <returns></returns>
public static Orient3d CreateRelative(Orient3d t0, Orient3d t1)
{
return(CreateRelative(ref t0, ref t1));
}
/// <summary>
/// Applies the inverse of this transformation to the given transformation.
/// </summary>
/// <param name="other"></param>
public Orient3d ApplyInverse(Orient3d other)
{
ApplyInverse(ref other);
return(other);
}
/// <summary>
/// Applies the inverse of this transformation to the given transformation.
/// </summary>
/// <param name="other"></param>
public void ApplyInverse(ref Orient3d other)
{
Rotation.ApplyInverse(ref other.Rotation);
other.Translation = ApplyInverse(other.Translation);
}
/// <summary>
/// Applies this transformation to the given transformation.
/// </summary>
/// <param name="other"></param>
public Orient3d Apply(Orient3d other)
{
Apply(ref other);
return(other);
}
/// <summary>
///
/// </summary>
/// <param name="other"></param>
/// <param name="tolerance"></param>
/// <returns></returns>
public bool ApproxEquals(ref Orient3d other, double tolerance = SlurMath.ZeroTolerance)
{
return
(Translation.ApproxEquals(other.Translation, tolerance) &&
Rotation.ApproxEquals(ref other.Rotation, tolerance));
}
/// <summary>
/// Applies the inverse of this transformation to the given transformation.
/// </summary>
/// <param name="other"></param>
public void ApplyInverse(ref Orient3d other, ref Orient3d result)
{
Rotation.ApplyInverse(ref other.Rotation, ref result.Rotation);
result.Translation = ApplyInverse(other.Translation);
}
/// <summary>
/// Applies the inverse of this transformation to the given transformation in place.
/// </summary>
/// <param name="other"></param>
public void ApplyInverse(ref Orient3d other)
{
ApplyInverse(ref other, ref other);
}
/// <summary>
/// Applies this transformation to the given transformation in place.
/// </summary>
/// <param name="other"></param>
public void Apply(ref Orient3d other)
{
Apply(ref other, ref other);
}