public static void Transform(ref FPVector4 vector, ref FPMatrix4x4 matrix, out FPVector4 result)
{
result.x = vector.x * matrix.M11 + vector.y * matrix.M12 + vector.z * matrix.M13 + vector.w * matrix.M14;
result.y = vector.x * matrix.M21 + vector.y * matrix.M22 + vector.z * matrix.M23 + vector.w * matrix.M24;
result.z = vector.x * matrix.M31 + vector.y * matrix.M32 + vector.z * matrix.M33 + vector.w * matrix.M34;
result.w = vector.x * matrix.M41 + vector.y * matrix.M42 + vector.z * matrix.M43 + vector.w * matrix.M44;
}
/**
* @brief Transform a direction from world space to local space.
**/
public FPVector4 InverseTransformDirection(FPVector4 direction)
{
Debug.Assert(direction.w == FP.Zero);
FPMatrix4x4 matrix = FPMatrix4x4.Translate(position) * FPMatrix4x4.Rotate(rotation);
return(FPVector4.Transform(direction, FPMatrix4x4.Inverse(matrix)));
}
public static FPVector4 Transform(FPVector position, FPMatrix4x4 matrix)
{
FPVector4 result;
FPVector4.Transform(ref position, ref matrix, out result);
return(result);
}