/// <summary>
/// Multiplacation of a <see cref="Scale3d"/> with a <see cref="M34d"/>.
/// </summary>
public static M34d Multiply(Scale3d scale, M34d mat)
{
return(new M34d(
scale.X * mat.M00,
scale.X * mat.M01,
scale.X * mat.M02,
scale.X * mat.M03,
scale.Y * mat.M10,
scale.Y * mat.M11,
scale.Y * mat.M12,
scale.Y * mat.M13,
scale.Z * mat.M20,
scale.Z * mat.M21,
scale.Z * mat.M22,
scale.Z * mat.M23
));
}
/// <summary>
/// Multiplacation of a <see cref="Shift3d"/> with a <see cref="M34d"/>.
/// </summary>
public static M34d Multiply(Shift3d shift, M34d m)
{
return(new M34d(
m.M00,
m.M01,
m.M02,
m.M03 + shift.X,
m.M10,
m.M11,
m.M12,
m.M13 + shift.Y,
m.M20,
m.M21,
m.M22,
m.M23 + shift.Z
));
}
public static M34d Multiply(Rot2d rot, M34d mat)
{
double a = (double)System.Math.Cos(rot.Angle);
double b = (double)System.Math.Sin(rot.Angle);
return(new M34d(a * mat.M00 +
b * mat.M10,
a * mat.M01 +
b * mat.M11,
a * mat.M02 +
b * mat.M12,
a * mat.M03 +
b * mat.M13,
-b * mat.M00 +
a * mat.M10,
-b * mat.M01 +
a * mat.M11,
-b * mat.M02 +
a * mat.M12,
-b * mat.M03 +
a * mat.M13,
mat.M20,
mat.M21,
mat.M22,
mat.M23));
}
public static M34d Multiply(M33d m, Euclidean3d r)
{
return(M34d.Multiply(m, (M34d)r));
}
