public static Trafo3d Rotation(double yawInRadians, double pitchInRadians, double rollInRadians) { var m = M44d.Rotation(yawInRadians, pitchInRadians, rollInRadians); return(new Trafo3d(m, m.Transposed)); //transposed is equal but faster to inverted on orthonormal matrices like rotations. }
public static Trafo3d Rotation(V3d axis, double angleInRadians) { return(new Trafo3d(M44d.Rotation(axis, angleInRadians), M44d.Rotation(axis, -angleInRadians))); }