public Mat3 RotateAround(Vec3 axis, float angle)
{
// rotate into world space
var quaternion = Quat.FromRotationAxis(axis, 0).Conjugate();
var worldSpaceMatrix = this.Multiply(FromQuaternion(quaternion));
// rotate back to matrix space
quaternion = Quat.FromRotationAxis(axis, angle);
var qMat = Mat3.FromQuaternion(quaternion);
worldSpaceMatrix = worldSpaceMatrix.Multiply(qMat);
return(worldSpaceMatrix);
}
public static Mat4 FromRigidTransform(RigidTransform3 transform)
{
return(Mat4.FromAffineTransform(Mat3.FromQuaternion(transform.rotation), transform.position));
}
