public static emVector3 operator *(emTransform t, emVector3 v)
{
emMatrix3x3 mat = new emMatrix3x3(t.basis);
return(new emVector3(mat.m_el[0].dot(v) + t.origin.x,
mat.m_el[1].dot(v) + t.origin.y,
mat.m_el[2].dot(v) + t.origin.z));
}
public emVector3 getRPY()
{
emVector3 tmp = new emMatrix3x3(this).getYPR();
return(new emVector3(tmp.z, tmp.y, tmp.x));
}
public emVector3 getRPY()
{
emVector3 tmp = new emMatrix3x3(this).getYPR();
return new emVector3(tmp.z, tmp.y, tmp.x);
}
public static emVector3 operator *(emTransform t, emVector3 v)
{
emMatrix3x3 mat = new emMatrix3x3(t.basis);
return new emVector3(mat.m_el[0].dot(v) + t.origin.x,
mat.m_el[1].dot(v) + t.origin.y,
mat.m_el[2].dot(v) + t.origin.z);
}