public Vec3 TransformInversed(RigidTransform3 transform)
{
transform.rotation = transform.rotation.Conjugate();
Vec3 result = this.Transform(transform.rotation);
return(result);
}
public static AffineTransform3 FromRigidTransform(RigidTransform3 transform)
{
AffineTransform3 result;
result.Translation = transform.position;
result.Transform = Mat3.FromQuaternion(transform.rotation);
return(result);
}
public RigidTransform3 Invert(ref RigidTransform3 transform)
{
RigidTransform3 result;
result.rotation = transform.rotation.Conjugate();
result.position = transform.position.Transform(result.rotation);
return(result);
}
public RigidTransform3 Transform(RigidTransform3 transform1, RigidTransform3 transform2)
{
RigidTransform3 result;
result.position = transform1.position.Transform(transform2.rotation);
result.position += transform2.position;
result.rotation = transform1.rotation.Concatenate(transform2.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 Vec3 Transform(RigidTransform3 transform)
{
return(this.Transform(transform.rotation) + transform.position);
}
public static Mat4 FromRigidTransform(RigidTransform3 transform)
{
return(Mat4.FromAffineTransform(Mat3.FromQuaternion(transform.rotation), transform.position));
}
