public void ToLocalDirection()
{
var a = new SrtTransform(new Vector3F(1, 2, 7), new QuaternionF(1, 2, 3, 4).Normalized, new Vector3F(4, -5, 6));
var v = new Vector3F(7, 9, -12);
var result1 = a.ToLocalDirection(v);
var result2 = a.Rotation.ToRotationMatrix33().Transposed *v;
Assert.IsTrue(Vector3F.AreNumericallyEqual(result1, result2));
}
public void ToLocalDirection()
{
var a = new SrtTransform(new Vector3F(1, 2, 7), new QuaternionF(1, 2, 3, 4).Normalized, new Vector3F(4, -5, 6));
var v = new Vector3F(7, 9, -12);
var result1 = a.ToLocalDirection(v);
var result2 = a.Rotation.ToRotationMatrix33().Transposed * v;
Assert.IsTrue(Vector3F.AreNumericallyEqual(result1, result2));
}