public Mat4 FromRotationAxis(Vec3 axis, float angle)
{
Quat quaternion = Quat.FromRotationAxis(axis, angle);
return(Mat4.FromQuaternion(quaternion));
}
public static Mat4 FromRigidTransform(RigidTransform3 transform)
{
return(Mat4.FromAffineTransform(Mat3.FromQuaternion(transform.rotation), transform.position));
}
public Vec4 Transform(Mat4 matrix)
{
return((matrix.x * x) + (matrix.y * y) + (matrix.z * z) + (matrix.w * w));
}
