/// <summary>
/// Multiplies 2 Euclidean transformations.
/// This concatenates the two rigid transformations into a single one, first b is applied, then a.
/// Attention: Multiplication is NOT commutative!
/// </summary>
public static __e2t__ Multiply(__e2t__ a, __e2t__ b)
{
//a.Rot * b.Rot, a.Trans + a.Rot * b.Trans
return(new __e2t__(__r2t__.Multiply(a.Rot, b.Rot), a.Trans + a.Rot.TransformDir(b.Trans)));
}
public static M2__s3f__ Multiply(M2__s2f__ m, __e2t__ r)
{
return(M2__s3f__.Multiply(m, (M2__s3f__)r));
}
public static bool ApproxEqual(__e2t__ r0, __e2t__ r1, __ft__ angleTol, __ft__ posTol)
{
return(__v2t__.ApproxEqual(r0.Trans, r1.Trans, posTol) && __r2t__.ApproxEqual(r0.Rot, r1.Rot, angleTol));
}
public static bool ApproxEqual(__e2t__ r0, __e2t__ r1)
{
return(ApproxEqual(r0, r1, Constant <__ft__> .PositiveTinyValue, Constant <__ft__> .PositiveTinyValue));
}
/// <summary>
/// Transforms point p (p.w is presumed 1.0) by the inverse of the rigid transformation r.
/// </summary>
public static __v2t__ InvTransformPos(__e2t__ r, __v2t__ p)
{
return(r.Rot.InvTransformPos(p - r.Trans));
}
/// <summary>
/// Transforms direction vector v (v.w is presumed 0.0) by the inverse of the rigid transformation r.
/// Actually, only the rotation is used.
/// </summary>
public static __v2t__ InvTransformDir(__e2t__ r, __v2t__ v)
{
return(r.Rot.InvTransformDir(v));
}
/// <summary>
/// Transforms point p (p.w is presumed 1.0) by rigid transformation r.
/// </summary>
public static __v2t__ TransformPos(__e2t__ r, __v2t__ p)
{
return(r.Rot.TransformPos(p) + r.Trans);
}