/// <summary>
/// Creates a new matrix that performs translation, rotation and scale.
/// </summary>
/// <param name="translation">Offset to translate by.</param>
/// <param name="rotation">Rotation quaternion.</param>
/// <param name="scale">Non-uniform scale factors.</param>
/// <returns>Matrix that performs scale, followed by rotation, followed by translation. </returns>
public static Matrix4 TRS(Vector3 translation, Quaternion rotation, Vector3 scale)
{
Matrix3 rot3x3 = rotation.ToRotationMatrix();
Matrix4 mat = new Matrix4();
mat.m00 = scale.x * rot3x3.m00; mat.m01 = scale.y * rot3x3.m01; mat.m02 = scale.z * rot3x3.m02; mat.m03 = translation.x;
mat.m10 = scale.x * rot3x3.m10; mat.m11 = scale.y * rot3x3.m11; mat.m12 = scale.z * rot3x3.m12; mat.m13 = translation.y;
mat.m20 = scale.x * rot3x3.m20; mat.m21 = scale.y * rot3x3.m21; mat.m22 = scale.z * rot3x3.m22; mat.m23 = translation.z;
// No projection term
mat.m30 = 0; mat.m31 = 0; mat.m32 = 0; mat.m33 = 1;
return(mat);
}
/// <summary>
/// Creates a rotation matrix from a quaternion rotation.
/// </summary>
/// <param name="quat">Quaternion to create the matrix from.</param>
/// <returns>Rotation matrix containing the equivalent rotation of the provided quaternion.</returns>
public static Matrix3 FromQuaternion(Quaternion quat)
{
return(quat.ToRotationMatrix());
}
/// <summary>
/// Creates a new matrix that performs translation, rotation and scale.
/// </summary>
/// <param name="translation">Offset to translate by.</param>
/// <param name="rotation">Rotation quaternion.</param>
/// <param name="scale">Non-uniform scale factors.</param>
/// <returns>Matrix that performs scale, followed by rotation, followed by translation. </returns>
public static Matrix4 TRS(Vector3 translation, Quaternion rotation, Vector3 scale)
{
Matrix3 rot3x3 = rotation.ToRotationMatrix();
Matrix4 mat = new Matrix4();
mat.m00 = scale.x * rot3x3.m00; mat.m01 = scale.y * rot3x3.m01; mat.m02 = scale.z * rot3x3.m02; mat.m03 = translation.x;
mat.m10 = scale.x * rot3x3.m10; mat.m11 = scale.y * rot3x3.m11; mat.m12 = scale.z * rot3x3.m12; mat.m13 = translation.y;
mat.m20 = scale.x * rot3x3.m20; mat.m21 = scale.y * rot3x3.m21; mat.m22 = scale.z * rot3x3.m22; mat.m23 = translation.z;
// No projection term
mat.m30 = 0; mat.m31 = 0; mat.m32 = 0; mat.m33 = 1;
return mat;
}