//
// res(L) = CTrans(tr,rt)(this(L))
public CTrans MakeApplyRt(ref RPoint tr, ref QPoint rt)
{
CTrans res = new CTrans(this);
res.ApplyRt(ref tr, ref rt);
return(res);
}
//
// res(L) = this(B2(L))
public CTrans MakeSuperpose(CTrans B2)
{
CTrans res = new CTrans(B2);
res.ApplyRt(ref this.m_T, ref this.m_R);
return(res);
}
//
public bool Equals(CTrans ct)
{
if (null == ct)
{
return(false);
}
return(this.T.Equals(ct.T) && this.R.Equals(ct.R));
}
static public SharpDX.Matrix CTrans2Matrix(CTrans ct)
{
Quaternion qRotation = new Quaternion();
qRotation.X = (float)-ct.R.X; qRotation.Y = (float)ct.R.Y; qRotation.Z = (float)ct.R.Z;
qRotation.W = (float)-ct.R.R;
SharpDX.Matrix M = SharpDX.Matrix.RotationQuaternion(qRotation);
M.M41 = (float)-ct.T.X; M.M42 = (float)ct.T.Y; M.M43 = (float)ct.T.Z;
return(M);
}
// res=this'; L=this(res(L))=res(this(L))
public CTrans MakeInverse()
{
QPoint QT = new QPoint(RPoint.Zero - this.T, 0);
QT.RMul(ref this.m_R);
QT.LDiv(ref this.m_R);
CTrans res = new CTrans(QT.PT, this.m_R);
res.m_R.Conj();
return(res);
}
public CTrans(CTrans ct)
{
this.m_T = ct.T;
this.m_R = ct.R; // no Norm needed here
}
// B1 = this
// B1(B2(L)) = B2(res(L)), res(L)=B2'(B1(B2(L)))
public CTrans MakePullDown(CTrans B2)
{
return(B2.MakeRelative(this.MakeSuperpose(B2)));
}
// B1 = this;
#if false
// res(L) = B1'(B2(L)), B2(L)=B1(res(L));
public CTrans MakeRelative(CTrans B2)
{
return(this.MakeInverse().MakeSuperpose(B2));
}