// Return the inverse of this transform
// v'=R*v+T
// v'-T=R*v
// inverse(R)*(v' - T) = inverse(R)*R*v = v
// v = -inverse(R)*T +inverse(R)*(v')
public AffineTransform inverse()
{
quaternion inverseQ = Missing.conjugate(q);
return(new AffineTransform(
Missing.rotateVector(inverseQ, -t), inverseQ));
}
// returns this.Inverse() * rhs
public AffineTransform inverseTimes(AffineTransform rhs)
{
quaternion inverseQ = Missing.conjugate(q);
return(new AffineTransform(
Missing.rotateVector(inverseQ, rhs.t - t),
math.mul(inverseQ, rhs.q)));
}
public float3 transformDirection(float3 d)
{
return(Missing.rotateVector(q, d));
}
public float3 transform(float3 p)
{
return(Missing.rotateVector(q, p) + t);
}