/// <summary>
/// Create a translation and rotation matrix.
/// </summary>
/// <param name="translation">Translation as 3 doubles in a DVector3 struct.</param>
/// <param name="orientation">Orientation as 4 doubles in a DVector4 struct.</param>
/// <returns>Double matrix.</returns>
public static DMatrix4x4 TR(DVector3 translation, DVector4 orientation)
{
double[] dTranslation = new double[3];
double[] dOrientation = new double[4];
dTranslation[0] = translation.x;
dTranslation[1] = translation.y;
dTranslation[2] = translation.z;
dOrientation[0] = orientation.x;
dOrientation[1] = orientation.y;
dOrientation[2] = orientation.z;
dOrientation[3] = orientation.w;
return(DMatrix4x4.TR(dTranslation, dOrientation));
}
/// <summary>
/// Dot Product of two vectors.
/// </summary>
/// <returns>Dot product as a double.</returns>
/// <param name="a">First vector.</param>
/// <param name="b">Second vector.</param>
public static double Dot(DVector4 a, DVector4 b)
{
return((a.x * b.x) + (a.y * b.y) + (a.z * b.z) + (a.w * b.w));
}
/// <summary>
/// Returns the distance between a and b.
/// </summary>
/// <returns>Euclidean distance as a double.</returns>
/// <param name="a">First vector.</param>
/// <param name="b">Second vector.</param>
public static double Distance(DVector4 a, DVector4 b)
{
return((a - b).Magnitude);
}