public void Transform(Matrix3 m)
{
Vector3 p0 = new Vector3(cb.P0.X, cb.P0.Y, 1);
Vector3 p1 = new Vector3(cb.P1.X, cb.P1.Y, 1);
Vector3 p2 = new Vector3(cb.P2.X, cb.P2.Y, 1);
Vector3 p3 = new Vector3(cb.P3.X, cb.P3.Y, 1);
p0 = m * p0;
p1 = m * p1;
p2 = m * p2;
p3 = m * p3;
cb = new CubicBezier(new Coordinates(p0.X, p0.Y), new Coordinates(p1.X, p1.Y),
new Coordinates(p2.X, p2.Y), new Coordinates(p3.X, p3.Y));
}
public void Transform(Matrix3 m)
{
foreach (IPathSegment seg in segments) {
seg.Transform(m);
}
}
public AbsoluteTransformer(Coordinates loc, double heading, CarTimestamp timestamp)
{
transform = Matrix3.Rotation(-heading)*Matrix3.Translation(-loc.X, -loc.Y);
this.timestamp = timestamp;
}
public AbsoluteTransformer(Matrix3 transform, CarTimestamp timestamp)
{
this.transform = transform;
this.timestamp = timestamp;
}
public void Transform(Matrix3 m)
{
Vector3 s = new Vector3(start.X, start.Y, 1);
Vector3 e = new Vector3(end.X, end.Y, 1);
s = m * s;
e = m * e;
start = new Coordinates(s.X, s.Y);
end = new Coordinates(e.X, e.Y);
}
