/// <summary>
/// Sets this instance to be rotation around XYZ axes represented by a vector.
/// </summary>
/// <param name="rad"> Euler angles measured in radians.</param>
/// <param name="trans">Optional translation vector.</param>
public void SetRotationXYZ(Vector3 rad, Vector3? trans = null)
{
this.Q.SetRotationAroundXYZAxes(rad);
this.T = trans.GetValueOrDefault();
}
/// <summary>
/// Sets this instance to be rotation around XYZ axes represented by a vector.
/// </summary>
/// <param name="cosha">Cosine of angle of rotation around axis.</param>
/// <param name="sinha">Sine of angle of rotation around axis.</param>
/// <param name="axis"> Axis of rotation.</param>
/// <param name="trans"></param>
public void SetRotationAA(float cosha, float sinha, Vector3 axis, Vector3? trans = null)
{
this.Q.SetRotationAngleAxis(cosha, sinha, axis);
this.T = trans.GetValueOrDefault();
}
