/// <summary>
/// Initializes coordinate system using origin point and transformation matrix.
/// </summary>
/// <param name="p">Origin of the coordinate system.</param>
/// <param name="m">Transformation matrix (in row format).</param>
/// <param name="name">Name of the coordinate system.</param>
public Coord3d(Point3d p, Matrix3d m, string name = "")
{
if (!m.IsOrthogonal)
{
throw new ArgumentException("The matrix is not orthogonal");
}
_origin = p.ConvertToGlobal();
_axes = m.Copy();
if ((!string.IsNullOrEmpty(name)))
{
_name = name;
}
else
{
_name = "Coord " + count.ToString();
}
count += 1;
}
/// <summary>
/// Initializes rotation using rotation matrix.
/// </summary>
/// <param name="m">Rotation matrix.</param>
/// <param name="coord">Reference coordinate system (default - Coord3d.GlobalCS).</param>
public Rotation(Matrix3d m, Coord3d coord = null)
{
_r = m.Copy();
_coord = (coord == null) ? Coord3d.GlobalCS : coord;
}