public static Trafo3d Rotation(double yawInRadians, double pitchInRadians, double rollInRadians)
{
var m = M44d.Rotation(yawInRadians, pitchInRadians, rollInRadians);
return(new Trafo3d(m, m.Transposed)); //transposed is equal but faster to inverted on orthonormal matrices like rotations.
}
public static Trafo3d Rotation(V3d axis, double angleInRadians)
{
return(new Trafo3d(M44d.Rotation(axis, angleInRadians),
M44d.Rotation(axis, -angleInRadians)));
}
