public static void Validate(this AffineTransform a)
{
a.LinearTransform.Validate();
a.Translation.Validate();
}
///<summary>
/// Inverts an affine transform.
///</summary>
///<param name="transform">Transform to invert.</param>
/// <param name="inverse">Inverse of the transform.</param>
public static void Invert(ref AffineTransform transform, out AffineTransform inverse)
{
Matrix3x3.Invert(ref transform.LinearTransform, out inverse.LinearTransform);
Matrix3x3.Transform(ref transform.Translation, ref inverse.LinearTransform, out inverse.Translation);
Vector3.Negate(ref inverse.Translation, out inverse.Translation);
}
/// <summary>
/// Creates an affine transform from a rigid transform.
/// </summary>
/// <param name="rigid">Rigid transform to base the affine transform on.</param>
/// <param name="affine">Affine transform created from the rigid transform.</param>
public static void CreateFromRigidTransform(ref RigidTransform rigid, out AffineTransform affine)
{
affine.Translation = rigid.Position;
Matrix3x3.CreateFromQuaternion(ref rigid.Orientation, out affine.LinearTransform);
}
///<summary>
/// Transforms a vector by an affine transform.
///</summary>
///<param name="position">Position to transform.</param>
///<param name="transform">Transform to apply.</param>
///<param name="transformed">Transformed position.</param>
public static void Transform(ref Vector3 position, ref AffineTransform transform, out Vector3 transformed)
{
Matrix3x3.Transform(ref position, ref transform.LinearTransform, out transformed);
Vector3.Add(ref transformed, ref transform.Translation, out transformed);
}