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public static CreateFromQuaternion ( Quaternion quaternion ) : |
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| quaternion | Quaternion | Quaternion to use to create a matrix. |
| return | ||
/// <summary>
/// Creates an affine transform from a rigid transform.
/// </summary>
/// <param name="rigid">Rigid transform to base the affine transform on.</param>
/// <returns>Affine transform created from the rigid transform.</returns>
public static AffineTransform CreateFromRigidTransform(RigidTransform rigid)
{
AffineTransform toReturn;
toReturn.Translation = rigid.Position;
Matrix3x3.CreateFromQuaternion(ref rigid.Orientation, out toReturn.LinearTransform);
return(toReturn);
}
///<summary>
/// Constructs a new affine transform.
///</summary>
///<param name="scaling">Scaling to apply in the linear transform.</param>
///<param name="orientation">Orientation to apply in the linear transform.</param>
///<param name="translation">Translation to apply.</param>
public AffineTransform(Vector3 scaling, Quaternion orientation, Vector3 translation)
{
//Create an SRT transform.
Matrix3x3.CreateScale(ref scaling, out LinearTransform);
Matrix3x3 rotation;
Matrix3x3.CreateFromQuaternion(ref orientation, out rotation);
Matrix3x3.Multiply(ref LinearTransform, ref rotation, out LinearTransform);
Translation = translation;
}
///<summary>
/// Multiplies a rigid transform by an affine transform.
///</summary>
///<param name="a">Rigid transform.</param>
///<param name="b">Affine transform.</param>
///<param name="transform">Combined transform.</param>
public static void Multiply(ref RigidTransform a, ref AffineTransform b, out AffineTransform transform)
{
Matrix3x3 linearTransform;//Have to use temporary variable just in case b reference is transform.
Matrix3x3.CreateFromQuaternion(ref a.Orientation, out linearTransform);
Matrix3x3.Multiply(ref linearTransform, ref b.LinearTransform, out linearTransform);
Vector3 translation;
Matrix3x3.Transform(ref a.Position, ref b.LinearTransform, out translation);
Vector3.Add(ref translation, ref b.Translation, out transform.Translation);
transform.LinearTransform = linearTransform;
}
///<summary>
/// Constructs a new affine tranform.
///</summary>
///<param name="orientation">Orientation to use as the linear transform.</param>
///<param name="translation">Translation to use in the transform.</param>
public AffineTransform(Quaternion orientation, Vector3 translation)
{
Matrix3x3.CreateFromQuaternion(ref orientation, out LinearTransform);
Translation = 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);
}
