/// <summary>
/// Builds an ortho-normal orientation transformation form the given transform.
/// Scale and Translation will be removed and basis vectors will be ortho-normalized.
/// NOTE: The X-Axis is untouched and Y/Z are forced to a normal-angle.
/// </summary>
public static Trafo3d GetOrthoNormalOrientation(this Trafo3d trafo)
{
var x = trafo.Forward.C0.XYZ.Normalized; // TransformDir(V3d.XAxis)
var y = trafo.Forward.C1.XYZ.Normalized; // TransformDir(V3d.YAxis)
var z = trafo.Forward.C2.XYZ.Normalized; // TransformDir(V3d.ZAxis)
y = z.Cross(x).Normalized;
z = x.Cross(y).Normalized;
return(Trafo3d.FromBasis(x, y, z, V3d.Zero));
}
/// <summary>
/// Returns the trafo that transforms from the coordinate system
/// specified by the basis into the world coordinate system.
/// </summary>
public static Trafo3d FromBasis(V3f xAxis, V3f yAxis, V3f zAxis, V3f orign)
{
return(Trafo3d.FromBasis((V3d)xAxis, (V3d)yAxis, (V3d)zAxis, (V3d)orign));
}
