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public static Invert ( |
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| matrix | Matrix to be inverted. | |
| result | Inverted matrix. | |
| return | void | |
///<summary>
/// Transforms a vector by an affine transform's inverse.
///</summary>
///<param name="position">Position to transform.</param>
///<param name="transform">Transform to invert and apply.</param>
///<param name="transformed">Transformed position.</param>
public static void TransformInverse(ref Vector3 position, ref AffineTransform transform, out Vector3 transformed)
{
Vector3.Subtract(ref position, ref transform.Translation, out transformed);
Matrix3x3 inverse;
Matrix3x3.Invert(ref transform.LinearTransform, out inverse);
Matrix3x3.TransformTranspose(ref transformed, ref inverse, out transformed);
}
///<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);
}
