public static void InvertRigid(ref AffineTransform transform, out AffineTransform inverse)
{
Matrix3x3.Transpose(ref transform.LinearTransform, out inverse.LinearTransform);
Matrix3x3.Transform(ref transform.Translation, ref inverse.LinearTransform, out inverse.Translation);
inverse.Translation = -inverse.Translation;
}
public static void Validate(this AffineTransform a)
{
a.LinearTransform.Validate();
a.Translation.Validate();
}
public static void Transform(ref Vector3 position, ref AffineTransform transform, out Vector3 transformed)
{
Matrix3x3.Transform(ref position, ref transform.LinearTransform, out transformed);
transformed += transform.Translation;
}