/// <summary>
/// 平移旋转缩放矩阵
/// </summary>
/// <param name="pos"></param>
/// <param name="q"></param>
/// <param name="s"></param>
/// <returns></returns>
public static Matrix4x4d TRS(Vector3d pos, Quaterniond q, Vector3d s)
{
Matrix4x4d m = Quaterniond.QuaternionToMatrix(q);
m[0] *= s[0];
m[1] *= s[0];
m[2] *= s[0];
m[4] *= s[1];
m[5] *= s[1];
m[6] *= s[1];
m[8] *= s[2];
m[9] *= s[2];
m[10] *= s[2];
m[12] = pos[0];
m[13] = pos[1];
m[14] = pos[2];
return(m);
}