/// <summary>
/// Inverts this transformation in place.
/// </summary>
public void Invert()
{
Scale = 1.0 / Scale;
Rotation.Invert();
Translation = Rotation.Apply(-Translation) * Scale;
}
/// <summary>
/// Inverts this transformation in place.
/// </summary>
public void Invert()
{
Rotation.Invert();
Translation = Rotation.Apply(-Translation);
}
/// <summary>
/// Creates a relative rotation from r0 to r1.
/// </summary>
/// <param name="from"></param>
/// <param name="to"></param>
public static OrthoBasis3d CreateFromTo(ref OrthoBasis3d from, ref OrthoBasis3d to)
{
return(to.Apply(from.Inverse));
}
/// <summary>
/// Applies the given rotation to the axis of this rotation.
/// </summary>
/// <param name="rotation"></param>
public void RotateAxis(ref OrthoBasis3d rotation)
{
_axis = rotation.Apply(_axis);
}