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public static Transform ( System.Vector3 v, |
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| v | System.Vector3 | Vector3 to transform. |
| matrix | Matrix to use as the transformation. | |
| return | System.Vector3 | |
/// <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;
}
///<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);
}
///<summary>
/// Transforms a vector by an affine transform.
///</summary>
///<param name="position">Position to transform.</param>
///<param name="transform">Transform to apply.</param>
///<param name="transformed">Transformed position.</param>
public static void Transform(ref Vector3 position, ref AffineTransform transform, out Vector3 transformed)
{
Matrix3x3.Transform(ref position, ref transform.LinearTransform, out transformed);
Vector3.Add(ref transformed, ref transform.Translation, out transformed);
}
