public bool PrecisionEqual(Frame3f f2, int nDigits)
{
return(origin.PrecisionEqual(f2.origin, nDigits) &&
rotation.PrecisionEqual(f2.rotation, nDigits));
}
public bool EpsilonEqual(Frame3f f2, float epsilon)
{
return(origin.EpsilonEqual(f2.origin, epsilon) &&
rotation.EpsilonEqual(f2.rotation, epsilon));
}
public static Frame3f Interpolate(Frame3f f1, Frame3f f2, float alpha)
{
return(new Frame3f(
Vector3F.Lerp(f1.origin, f2.origin, alpha),
Quaternionf.Slerp(f1.rotation, f2.rotation, alpha)));
}
/// <summary> Map frame *from* local frame coordinates into "world" coordinates </summary>
public Frame3f FromFrame(Frame3f f)
{
return(new Frame3f(FromFrameP(f.origin), FromFrame(f.rotation)));
}
///<summary> Map frame *into* local coordinates of Frame </summary>
public Frame3f ToFrame(Frame3f f)
{
return(new Frame3f(ToFrameP(f.origin), ToFrame(f.rotation)));
}
public Frame3f(Frame3f copy)
{
this.rotation = copy.rotation;
this.origin = copy.origin;
}