|
public static Multiply ( Matrix &a, |
||
| a | Matrix | First matrix to multiply. |
| b | Second matrix to multiply. | |
| result | Product of the multiplication. | |
| return | void | |
/// <summary>
/// Multiplies the two matrices.
/// </summary>
/// <param name="a">First matrix to multiply.</param>
/// <param name="b">Second matrix to multiply.</param>
/// <returns>Product of the multiplication.</returns>
public static Matrix3x3 operator *(Matrix3x3 a, Matrix3x3 b)
{
Matrix3x3 result;
Matrix3x3.Multiply(ref a, ref b, out result);
return(result);
}
///<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 transform by another transform.
/// </summary>
/// <param name="a">First transform.</param>
/// <param name="b">Second transform.</param>
/// <param name="transform">Combined transform.</param>
public static void Multiply(ref AffineTransform a, ref AffineTransform b, out AffineTransform transform)
{
Matrix3x3 linearTransform;//Have to use temporary variable just in case a or b reference is transform.
Matrix3x3.Multiply(ref a.LinearTransform, ref b.LinearTransform, out linearTransform);
Vector3 translation;
Matrix3x3.Transform(ref a.Translation, ref b.LinearTransform, out translation);
Vector3.Add(ref translation, ref b.Translation, out transform.Translation);
transform.LinearTransform = linearTransform;
}
///<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;
}
