public static void InvertRigid(ref AffineTransform transform, out AffineTransform inverse)
{
Matrix3x3.Transpose(ref transform.LinearTransform, out inverse.LinearTransform);
Matrix3x3.Transform(ref transform.Translation, ref inverse.LinearTransform, out inverse.Translation);
inverse.Translation = -inverse.Translation;
}
public static void Transform(ref Vector3 position, ref AffineTransform transform, out Vector3 transformed)
{
Matrix3x3.Transform(ref position, ref transform.LinearTransform, out transformed);
transformed += transform.Translation;
}
public static void Multiply(ref AffineTransform a, ref AffineTransform b, out AffineTransform transform)
{
Vector3 translation;
Matrix3x3.Transform(ref a.Translation, ref b.LinearTransform, out translation);
transform.Translation = b.Translation + translation;
Matrix3x3.Multiply(ref a.LinearTransform, ref b.LinearTransform, out transform.LinearTransform);
}
public static void Transform(ref Vector3 position, ref AffineTransform transform, out Vector3 transformed)
{
Matrix3x3.Transform(ref position, ref transform.LinearTransform, out transformed);
transformed += transform.Translation;
}
public static void InvertRigid(ref AffineTransform transform, out AffineTransform inverse)
{
Matrix3x3.Transpose(ref transform.LinearTransform, out inverse.LinearTransform);
Matrix3x3.Transform(ref transform.Translation, ref inverse.LinearTransform, out inverse.Translation);
inverse.Translation = -inverse.Translation;
}