public static Vector2 MulT(ref Rot rot, Vector2 axis)
{
return(MulT(rot, axis));
}
/// <summary>
/// Initialize using a position vector and a rotation matrix.
/// </summary>
/// <param name="position">The position.</param>
/// <param name="rotation">The r.</param>
public Transform(ref Vector2 position, ref Rot rotation)
{
p = position;
q = rotation;
}
/// Inverse rotate a vector
public static Vector2 MulT(Rot q, Vector2 v)
{
Vector2 vec = new Vector2(q.c * v.X + q.s * v.Y, -q.s * v.X + q.c * v.Y);
return(vec);
}