public static AffineTransform3 FromRigidTransform(RigidTransform3 transform)
{
AffineTransform3 result;
result.Translation = transform.position;
result.Transform = Mat3.FromQuaternion(transform.rotation);
return(result);
}
public AffineTransform3 Multiply(RigidTransform3 transform)
{
AffineTransform3 result;
result.Transform = Mat3.FromQuaternion(transform.rotation);
result.Transform = result.Transform.Multiply(Transform);
result.Translation = transform.position.Transform(Transform);
result.Translation += Translation;
return(result);
}
public void Matrix3()
{
FMat3 fm = FMat3.FromQuaternion(FQuat.Euler(( Fix64 )30, ( Fix64 )(-20), ( Fix64 )49.342f));
Mat3 m = Mat3.FromQuaternion(Quat.Euler(30, -20, 49.342f));
FVec3 fv = new FVec3(12.5f, 9, 8);
FVec3 fv2 = new FVec3(4, 6, 9);
Vec3 v = new Vec3(12.5f, 9, 8);
Vec3 v2 = new Vec3(4, 6, 9);
fv = fm.TransformPoint(fv);
fv2 = fm.TransformVector(fv2);
v = m.TransformPoint(v);
v2 = m.TransformVector(v2);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
this._output.WriteLine(fv.ToString());
this._output.WriteLine(fv2.ToString());
this._output.WriteLine(v.ToString());
this._output.WriteLine(v2.ToString());
fm = FMat3.LookAt(fv, fv2);
m = Mat3.LookAt(v, v2);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fv = fm.Euler();
v = m.Euler();
this._output.WriteLine(fv.ToString());
this._output.WriteLine(v.ToString());
fm = FMat3.FromEuler(fv);
m = Mat3.FromEuler(v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.FromScale(fv);
m = Mat3.FromScale(v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.FromCross(fv);
m = Mat3.FromCross(v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.FromOuterProduct(fv, fv2);
m = Mat3.FromOuterProduct(v, v2);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.FromRotationAxis(( Fix64 )35, fv);
m = Mat3.FromRotationAxis(35, v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.NonhomogeneousInverse(fm);
m = Mat3.NonhomogeneousInvert(m);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
}
public AffineTransform3(Quat orientation, Vec3 scale, Vec3 translation)
{
Transform = Mat3.FromQuaternion(orientation) * scale;
Translation = translation;
}