public static FPVector2 MulT(ref Rot rot, FPVector2 axis)
{
return(MulT(rot, axis));
}
/// <summary>
/// Initialize using a position vector and a rotation matrix.
/// </summary>
/// <param name="position">The position.</param>
/// <param name="rotation">The r.</param>
public Transform(ref FPVector2 position, ref Rot rotation)
{
p = position;
q = rotation;
}
/// Inverse rotate a vector
public static FPVector2 MulT(Rot q, FPVector2 v)
{
return(new FPVector2(q.c * v.x + q.s * v.y, -q.s * v.x + q.c * v.y));
}