/// <summary>
/// Create a translation and rotation.
/// </summary>
static public Matrix4x4d TranslateRotate(Vector3d t, Quaternion3d r)
{
Matrix4x4d T = Translate(t);
Matrix4x4d R = r.ToMatrix4x4d();
return(T * R);
}
/// <summary>
/// Create a rotation and scale.
/// </summary>
static public Matrix4x4d RotateScale(Quaternion3d r, Vector3d s)
{
Matrix4x4d R = r.ToMatrix4x4d();
Matrix4x4d S = Scale(s);
return(R * S);
}
/// <summary>
/// Create a translation, rotation and scale.
/// </summary>
static public Matrix4x4d TranslateRotateScale(Vector3d t, Quaternion3d r, Vector3d s)
{
Matrix4x4d T = Translate(t);
Matrix4x4d R = r.ToMatrix4x4d();
Matrix4x4d S = Scale(s);
return(T * R * S);
}
