/// <summary>
/// Method for building a Matrix4 from orientation / scale / position.
/// </summary>
/// <remarks>
/// Transform is performed in the order scale, rotate, translation, i.e. translation is independent
/// of orientation axes, scale does not affect size of translation, rotation and scaling are always
/// centered on the origin.
/// </remarks>
/// <param name="position"></param>
/// <param name="scale"></param>
/// <param name="orientation"></param>
/// <param name="destMatrix">object that will contain the transform</param>
/// <returns></returns>
public static void MakeTransform(Vector3 position, Vector3 scale, Quaternion orientation, out Matrix4 destMatrix)
{
destMatrix = Matrix4.Identity;
// Ordering:
// 1. Scale
// 2. Rotate
// 3. Translate
Matrix3 rot3x3;
Matrix3 scale3x3;
rot3x3 = orientation.ToRotationMatrix();
scale3x3 = Matrix3.Zero;
scale3x3.m00 = scale.x;
scale3x3.m11 = scale.y;
scale3x3.m22 = scale.z;
destMatrix = rot3x3 * scale3x3;
destMatrix.Translation = position;
}
/// <summary>
/// Method for building a Matrix4 from orientation / scale / position.
/// </summary>
/// <remarks>
/// Transform is performed in the order scale, rotate, translation, i.e. translation is independent
/// of orientation axes, scale does not affect size of translation, rotation and scaling are always
/// centered on the origin.
/// </remarks>
/// <param name="position"></param>
/// <param name="scale"></param>
/// <param name="orientation"></param>
/// <param name="destMatrix">object that will contain the transform</param>
/// <returns></returns>
public static void MakeTransform(Vector3 position, Vector3 scale, Quaternion orientation, out Matrix4 destMatrix)
{
destMatrix = Matrix4.Identity;
// Ordering:
// 1. Scale
// 2. Rotate
// 3. Translate
Matrix3 rot3x3;
Matrix3 scale3x3;
rot3x3 = orientation.ToRotationMatrix();
scale3x3 = Matrix3.Zero;
scale3x3.m00 = scale.x;
scale3x3.m11 = scale.y;
scale3x3.m22 = scale.z;
destMatrix = rot3x3 * scale3x3;
destMatrix.Translation = position;
}
public static Matrix4 GetTransform(ref Quaternion orientation, ref Vector3 position) {
Matrix4 rv = Matrix4.FromMatrix3(orientation.ToRotationMatrix());
rv.Translation = position;
return rv;
}