/**
* @brief Transform a direction from world space to local space.
**/
public FPVector4 InverseTransformDirection(FPVector4 direction)
{
Debug.Assert(direction.w == FP.Zero);
FPMatrix4x4 matrix = FPMatrix4x4.Translate(position) * FPMatrix4x4.Rotate(rotation);
return(FPVector4.Transform(direction, FPMatrix4x4.Inverse(matrix)));
}
public static FPVector4 Transform(FPVector position, FPMatrix4x4 matrix)
{
FPVector4 result;
FPVector4.Transform(ref position, ref matrix, out result);
return(result);
}
/**
* @brief Transform a vector from world space to local space.
**/
public FPVector4 InverseTransformVector(FPVector4 vector)
{
Debug.Assert(vector.w == FP.Zero);
return(FPVector4.Transform(vector, worldToLocalMatrix));
}
/**
* @brief Transform a vector from local space to world space.
**/
public FPVector4 TransformVector(FPVector4 vector)
{
Debug.Assert(vector.w == FP.Zero);
return(FPVector4.Transform(vector, localToWorldMatrix));
}
public FPVector InverseTransformPoint(FPVector point)
{
return(FPVector4.Transform(point, worldToLocalMatrix).ToFPVector());
}
/**
* @brief Transform a point from world space to local space.
**/
public FPVector4 InverseTransformPoint(FPVector4 point)
{
Debug.Assert(point.w == FP.One);
return(FPVector4.Transform(point, worldToLocalMatrix));
}
public FPVector TransformPoint(FPVector point)
{
return(FPVector4.Transform(point, localToWorldMatrix).ToFPVector());
}
/**
* @brief Transform a point from local space to world space.
**/
public FPVector4 TransformPoint(FPVector4 point)
{
Debug.Assert(point.w == FP.One);
return(FPVector4.Transform(point, localToWorldMatrix));
}
