/// <summary>
///
/// </summary>
/// <param name="p0"></param>
/// <param name="p1"></param>
public static Orient2d CreateFromPoints(Vec2d p0, Vec2d p1)
{
return(new Orient2d(p0, p1 - p0));
}
/// <summary>
///
/// </summary>
/// <param name="rotation"></param>
/// <param name="translation"></param>
public Orient2d(OrthoBasis2d rotation, Vec2d translation)
{
Rotation = rotation;
Translation = translation;
}
/// <summary>
/// Applies the inverse of this transformation to the given point.
/// </summary>
/// <param name="point"></param>
/// <returns></returns>
public Vec2d ApplyInverse(Vec2d point)
{
return(Rotation.ApplyInverse(point - Translation));
}
/// <summary>
///
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="z"></param>
public void Deconstruct(out OrthoBasis2d rotation, out Vec2d translation)
{
rotation = Rotation;
translation = Translation;
}
/// <summary>
/// Inverts this transformation in place.
/// </summary>
public void Invert()
{
Rotation.Invert();
Translation = -Rotation.Apply(Translation);
}
/// <summary>
/// Applies this transformation to the given point.
/// </summary>
/// <param name="point"></param>
/// <returns></returns>
public Vec2d Apply(Vec2d point)
{
return(Rotation.Apply(point) + Translation);
}
/// <summary>
///
/// </summary>
/// <param name="cosAngle"></param>
/// <param name="sinAngle"></param>
private Rotation2d(double cosAngle, double sinAngle)
{
_x = new Vec2d(cosAngle, sinAngle);
}
/// <summary>
///
/// </summary>
/// <param name="origin"></param>
/// <param name="x"></param>
public Orient2d(Vec2d origin, Vec2d x)
{
Rotation = new OrthoBasis2d(x);
Translation = origin;
}
/// <summary>
///
/// </summary>
/// <param name="x"></param>
public Rotation2d(Vec2d x)
{
_x = x.Unit;
}
/// <summary>
/// Applies the inverse of this rotation to the given vector.
/// </summary>
/// <param name="vector"></param>
/// <returns></returns>
public Vec2d ApplyInverse(Vec2d vector)
{
return(new Vec2d(Vec2d.Dot(vector, X), Vec2d.Dot(vector, Y)));
}
/// <summary>
/// Applies this rotation to the given vector.
/// </summary>
/// <param name="vector"></param>
/// <returns></returns>
public Vec2d Apply(Vec2d vector)
{
return(vector.X * X + vector.Y * Y);
}
/// <summary>
///
/// </summary>
/// <param name="angle"></param>
public void Set(double angle)
{
_x = new Vec2d(Math.Cos(angle), Math.Sin(angle));
}
/// <summary>
///
/// </summary>
/// <param name="other"></param>
/// <param name="z"></param>
public Vec3d(Vec2d other, double z)
{
X = other.X;
Y = other.Y;
Z = z;
}