public static AffineTransform3 FromRigidTransform(RigidTransform3 transform)
{
AffineTransform3 result;
result.Translation = transform.position;
result.Transform = Mat3.FromQuaternion(transform.rotation);
return(result);
}
public AffineTransform3 Multiply(RigidTransform3 transform)
{
AffineTransform3 result;
result.Transform = Mat3.FromQuaternion(transform.rotation);
result.Transform = result.Transform.Multiply(Transform);
result.Translation = transform.position.Transform(Transform);
result.Translation += Translation;
return(result);
}
public AffineTransform3(Quat orientation, Vec3 scale, Vec3 translation)
{
Transform = Mat3.FromQuaternion(orientation) * scale;
Translation = translation;
}
public static Mat4 FromRigidTransform(RigidTransform3 transform)
{
return(Mat4.FromAffineTransform(Mat3.FromQuaternion(transform.rotation), transform.position));
}