/// <summary>
/// Applies the inverse of this transformation to the given transformation.
/// </summary>
/// <param name="other"></param>
public Transform2d ApplyInverse(Transform2d other)
{
other.Rotation = Rotation.ApplyInverse(other.Rotation);
other.Translation = ApplyInverse(other.Translation);
other.Scale /= Scale;
return(other);
}
/// <summary>
/// Applies this transformation to the given transformation.
/// </summary>
/// <param name="other"></param>
public Transform2d Apply(Transform2d other)
{
other.Rotation = Rotation.Apply(other.Rotation);
other.Translation = Apply(other.Translation);
other.Scale *= Scale;
return(other);
}
/// <summary>
/// Creates a relative transformation from t0 to t1.
/// </summary>
/// <param name="from"></param>
/// <param name="to"></param>
/// <returns></returns>
public static Transform2d CreateFromTo(Transform2d from, Transform2d to)
{
return(to.Apply(from.Inverse));
}
/// <summary>
/// Creates a relative transformation from t0 to t1.
/// </summary>
/// <param name="t0"></param>
/// <param name="t1"></param>
/// <returns></returns>
public static Transform2d CreateRelative(Transform2d t0, Transform2d t1)
{
return(t1.Apply(t0.Inverse));
}
/// <summary>
///
/// </summary>
/// <param name="t0"></param>
/// <param name="t1"></param>
public static Transform2d Multiply(Transform2d t0, Transform2d t1)
{
return(t0.Apply(t1));
}
/// <summary>
///
/// </summary>
/// <param name="transform"></param>
/// <param name="point"></param>
/// <returns></returns>
public static Vec2d Multiply(Transform2d transform, Vec2d point)
{
return(transform.Apply(point));
}