/// <summary>
/// Initialize using a position vector and a rotation matrix.
/// </summary>
/// <param name="position"></param>
/// <param name="R"></param>
public Transform(Vector2 position, Quaternion rotation)
{
this.position = position;
this.rotation = rotation;
}
/// <summary>
/// Multiply a matrix transpose times a vector. If a rotation matrix is provided,
/// then this Transforms the vector from one frame to another (inverse Transform).
/// </summary>
public static Vector2 MulT(Mat22 A, Vector2 v)
{
return(new Vector2(Vector2.Dot(v, A.Col1), Vector2.Dot(v, A.Col2)));
}
/// <summary>
/// Initialize using a position vector and a rotation matrix.
/// </summary>
/// <param name="position"></param>
/// <param name="R"></param>
public Transform(Vector2 position, Mat22 rotation)
{
this.position = position;
this.rotation = rotation;
}
/// <summary>
/// Multiply a matrix times a vector. If a rotation matrix is provided,
/// then this Transforms the vector from one frame to another.
/// </summary>
public static Vector2 Mul(Mat22 A, Vector2 v)
{
return(new Vector2(A.Col1.X * v.X + A.Col2.X * v.Y, A.Col1.Y * v.X + A.Col2.Y * v.Y));
}
/// <summary>
/// Initialize using a position vector and a rotation matrix.
/// </summary>
/// <param name="position"></param>
/// <param name="R"></param>
public XForm(Vec2 position, Mat22 rotation)
{
Position = position;
R = rotation;
}
/// Set this based on the position and angle.
public void Set(Vector2 p, float angle)
{
position = p;
R = new Mat22(angle);
}
/// <summary>
/// Set this to the identity transform.
/// </summary>
public void SetIdentity()
{
position = Vector2.Zero;
R = Mat22.Identity;
}
/// <summary>
/// Initialize using a position vector and a rotation matrix.
/// </summary>
/// <param name="position"></param>
/// <param name="R"></param>
public XForm(Vector2 p, Mat22 rotation)
{
position = p;
R = rotation;
}