public static void Multiply(ref RigidTransform3 rigidTransform, ref AffineTransform3 affineTransform, out AffineTransform3 result)
{
Matrix3.FromQuaternion(ref rigidTransform.Orientation, out result.Transform);
Matrix3.Multiply(ref result.Transform, ref affineTransform.Transform, out result.Transform);
Vector3.Transform(ref rigidTransform.Position, ref affineTransform.Transform, out result.Translation);
result.Translation += affineTransform.Translation;
}
public static void Multiply(ref RigidTransform3 rigidTransform, ref AffineTransform3 affineTransform, out AffineTransform3 result)
{
Matrix3.FromQuaternion(ref rigidTransform.Orientation, out result.Transform);
Matrix3.Multiply(ref result.Transform, ref affineTransform.Transform, out result.Transform);
Vector3.Transform(ref rigidTransform.Position, ref affineTransform.Transform, out result.Translation);
result.Translation += affineTransform.Translation;
}
public Vector3 TransformInversed(RigidTransform3 transform)
{
Vector3 result = this - transform.Position;
Quaternion.Conjugate(ref transform.Orientation, out transform.Orientation);
Vector3.Transform(ref this, ref transform.Orientation, out result);
return(result);
}
public AffineTransform3 Multiply(ref RigidTransform3 transform)
{
AffineTransform3 result;
Matrix3.FromQuaternion(ref transform.Orientation, out result.Transform);
Matrix3.Multiply(ref result.Transform, ref Transform, out result.Transform);
Vector3.Transform(ref transform.Position, ref Transform, out result.Translation);
result.Translation += Translation;
return result;
}
public AffineTransform3 Multiply(ref RigidTransform3 transform)
{
AffineTransform3 result;
Matrix3.FromQuaternion(ref transform.Orientation, out result.Transform);
Matrix3.Multiply(ref result.Transform, ref Transform, out result.Transform);
Vector3.Transform(ref transform.Position, ref Transform, out result.Translation);
result.Translation += Translation;
return(result);
}
public static void FromRigidTransform(ref RigidTransform3 transform, out AffineTransform3 result)
{
result.Translation = transform.Position;
Matrix3.FromQuaternion(ref transform.Orientation, out result.Transform);
}
public static void Transform(ref RigidTransform3 transform1, ref RigidTransform3 transform2, out RigidTransform3 result)
{
Vector3.Transform(ref transform1.Position, ref transform2.Orientation, out result.Position);
result.Position += transform2.Position;
Quaternion.Concatenate(ref transform1.Orientation, ref transform2.Orientation, out result.Orientation);
}
public Vector3 Transform(RigidTransform3 transform)
{
return this.Transform(transform.Orientation) + transform.Position;
}
public static void Transform(ref Vector3 vector, ref RigidTransform3 transform, out Vector3 result)
{
Vector3.Transform(ref vector, ref transform.Orientation, out result);
result += transform.Position;
}
public static void FromRigidTransform(ref RigidTransform3 transform, out Matrix4 result)
{
var qMat = Matrix3.FromQuaternion(transform.Orientation);
Core.Matrix4.FromAffineTransform(ref qMat, ref transform.Position, out result);
}
public static Matrix4 FromRigidTransform(RigidTransform3 transform)
{
return(Matrix4.FromAffineTransform(Matrix3.FromQuaternion(transform.Orientation), transform.Position));
}
public static void TransformInversed(ref Vector3 vector, ref RigidTransform3 transform, out Vector3 result)
{
result = vector - transform.Position;
Quaternion.Conjugate(ref transform.Orientation, out transform.Orientation);
Vector3.Transform(ref vector, ref transform.Orientation, out result);
}
public static void Transform(ref Vector3 vector, ref RigidTransform3 transform, out Vector3 result)
{
Vector3.Transform(ref vector, ref transform.Orientation, out result);
result += transform.Position;
}
public Vector3 Transform(RigidTransform3 transform)
{
return(this.Transform(transform.Orientation) + transform.Position);
}
public static void Invert(ref RigidTransform3 transform, out RigidTransform3 result)
{
Quaternion.Conjugate(ref transform.Orientation, out result.Orientation);
Vector3.Transform(ref transform.Position, ref result.Orientation, out result.Position);
result.Position = -result.Position;
}
public static Matrix4 FromRigidTransform(RigidTransform3 transform)
{
return Matrix4.FromAffineTransform(Matrix3.FromQuaternion(transform.Orientation), transform.Position);
}
public static void Transform(ref RigidTransform3 transform1, ref RigidTransform3 transform2, out RigidTransform3 result)
{
Vector3.Transform(ref transform1.Position, ref transform2.Orientation, out result.Position);
result.Position += transform2.Position;
Quaternion.Concatenate(ref transform1.Orientation, ref transform2.Orientation, out result.Orientation);
}
public static void FromRigidTransform(ref RigidTransform3 transform, out Matrix4 result)
{
var qMat = Matrix3.FromQuaternion(transform.Orientation);
Core.Matrix4.FromAffineTransform(ref qMat, ref transform.Position, out result);
}
public static void TransformInversed(ref Vector3 vector, ref RigidTransform3 transform, out Vector3 result)
{
result = vector - transform.Position;
Quaternion.Conjugate(ref transform.Orientation, out transform.Orientation);
Vector3.Transform(ref vector, ref transform.Orientation, out result);
}
public static void Invert(ref RigidTransform3 transform, out RigidTransform3 result)
{
Quaternion.Conjugate(ref transform.Orientation, out result.Orientation);
Vector3.Transform(ref transform.Position, ref result.Orientation, out result.Position);
result.Position = -result.Position;
}
public Vector3 TransformInversed(RigidTransform3 transform)
{
Vector3 result = this - transform.Position;
Quaternion.Conjugate(ref transform.Orientation, out transform.Orientation);
Vector3.Transform(ref this, ref transform.Orientation, out result);
return result;
}
public static void FromRigidTransform(ref RigidTransform3 transform, out AffineTransform3 result)
{
result.Translation = transform.Position;
Matrix3.FromQuaternion(ref transform.Orientation, out result.Transform);
}
