/// <summary>
/// Multiplies 2 Similarity transformations.
/// This concatenates the two similarity transformations into a single one, first b is applied, then a.
/// Attention: Multiplication is NOT commutative!
/// </summary>
public static Similarity__x3t__ Multiply(Similarity__x3t__ a, Similarity__x3t__ b)
{
//a.Scale * b.Scale, a.Rot * b.Rot, a.Trans + a.Rot * a.Scale * b.Trans
return(new Similarity__x3t__(a.Scale * b.Scale, new Euclidean__x3t__(
Rot__x3t__.Multiply(a.Rot, b.Rot),
a.Trans + a.Rot.TransformDir(a.Scale * b.Trans))
));
}
/// <summary>
/// Creates rotational matrix from quaternion.
/// </summary>
/// <returns>Rotational matrix.</returns>
public static M4__x4t__ Rotation(Rot__x3t__ r)
{
return((M4__x4t__)r);
}
public static M3__x4t__ Rotation(Rot__x3t__ q)
{
return((M3__x4t__)q);
}
public static M3__x3t__ Multiply(Scale__x3t__ scale, Rot__x3t__ rot)
{
return(Scale__x3t__.Multiply(scale, (M3__x3t__)rot));
}
