/// <summary>
/// Creates a transformation from the specified coordinate system
/// to the aardvark coordinate system (Meters, Right-Handed, Z-Up).
/// </summary>
public static Trafo3d ToAardvark(double scale, Handedness hand, Axis up)
{
var t = scale != 1 ? Trafo3d.Scale(scale) : Trafo3d.Identity;
if (hand != Handedness.Right)
{
t *= SwapHand;
}
if (up != Axis.Z)
{
t *= FromToRH(up, Axis.Z);
}
return(t);
}
/// <summary>
/// Builds transformation from one coordinate system to another.
/// </summary>
public static Trafo3d FromTo(Info from, Info to)
{
var t = Trafo3d.Identity;
if (from.UnitScale != to.UnitScale)
{
t = Trafo3d.Scale(to.UnitScale / from.UnitScale);
}
if (from.Handedness != to.Handedness)
{
t *= SwapHand;
}
if (from.UpVector != to.UpVector)
{
t *= FromToRH(from.UpVector, to.UpVector);
}
return(t);
}
/// <summary>
/// Builds a transformation matrix using the scale, rotation and translation componets.
/// NOTE: Uses the Scale * Rotation * Translation notion.
/// The rotation is in Euler-Angles (yaw, pitch, roll).
/// </summary>
public static Trafo3d FromComponents(V3d scale, V3d rotation, V3d translation)
{
return(Trafo3d.Scale(scale) * Trafo3d.Rotation(rotation) * Trafo3d.Translation(translation));
}
