/// <summary>
///
/// </summary>
/// <param name="other"></param>
/// <param name="tolerance"></param>
/// <returns></returns>
public bool ApproxEquals(ref Transform3d other, double tolerance = SlurMath.ZeroTolerance)
{
return
(Translation.ApproxEquals(other.Translation, tolerance) &&
Rotation.ApproxEquals(ref other.Rotation, tolerance) &&
Scale.ApproxEquals(other.Scale, tolerance));
}
/// <summary>
/// Applies the inverse of this transformation to the given transformation.
/// </summary>
/// <param name="other"></param>
public Transform3d ApplyInverse(Transform3d other)
{
other.Rotation = Rotation.ApplyInverse(other.Rotation);
other.Translation = ApplyInverse(other.Translation);
other.Scale /= Scale;
return(other);
}
/// <summary>
/// Applies this transformation to the given transformation.
/// </summary>
/// <param name="other"></param>
public Transform3d Apply(Transform3d other)
{
other.Rotation = Rotation.Apply(other.Rotation);
other.Translation = Apply(other.Translation);
other.Scale *= Scale;
return(other);
}
/// <summary>
/// Creates relative transformation from t0 to t1.
/// </summary>
/// <param name="from"></param>
/// <param name="to"></param>
/// <returns></returns>
public static Transform3d CreateFromTo(ref Transform3d from, ref Transform3d to)
{
return(to.Apply(from.Inverse));
}
/// <summary>
/// Applies the inverse of this transformation to the given transformation.
/// </summary>
/// <param name="other"></param>
public void ApplyInverse(ref Transform3d other, ref Transform3d result)
{
Rotation.ApplyInverse(ref other.Rotation, ref result.Rotation);
result.Translation = ApplyInverse(other.Translation);
result.Scale = other.Scale / Scale;
}
/// <summary>
/// Applies the inverse of this transformation to the given transformation in place.
/// </summary>
/// <param name="other"></param>
public void ApplyInverse(ref Transform3d other)
{
ApplyInverse(ref other, ref other);
}
/// <summary>
/// Applies the inverse of this transformation to the given transformation.
/// </summary>
/// <param name="other"></param>
public Transform3d ApplyInverse(Transform3d other)
{
ApplyInverse(ref other, ref other);
return(other);
}
/// <summary>
/// Applies this transformation to the given transformation in place.
/// </summary>
/// <param name="other"></param>
public void Apply(ref Transform3d other)
{
Apply(ref other, ref other);
}
/// <summary>
/// Applies this transformation to the given transformation.
/// </summary>
/// <param name="other"></param>
public Transform3d Apply(Transform3d other)
{
Apply(ref other, ref other);
return(other);
}
/// <summary>
/// Creates relative transformation from t0 to t1.
/// </summary>
/// <param name="t0"></param>
/// <param name="t1"></param>
/// <returns></returns>
public static Transform3d CreateRelative(Transform3d t0, Transform3d t1)
{
return(CreateRelative(ref t0, ref t1));
}
/// <summary>
///
/// </summary>
/// <param name="t0"></param>
/// <param name="t1"></param>
public static Transform3d Multiply(ref Transform3d t0, ref Transform3d t1)
{
return(t0.Apply(t1));
}
/// <summary>
///
/// </summary>
/// <param name="transform"></param>
/// <param name="point"></param>
/// <returns></returns>
public static Vec3d Multiply(ref Transform3d transform, Vec3d point)
{
return(transform.Apply(point));
}
/// <summary>
///
/// </summary>
/// <param name="t0"></param>
/// <param name="t1"></param>
/// <returns></returns>
public static Transform3d CreateRelative(ref Transform3d t0, ref Transform3d t1)
{
return(t1.Apply(t0.Inverse));
}
/// <summary>
/// Applies the inverse of this transformation to the given transformation.
/// </summary>
/// <param name="other"></param>
public void ApplyInverse(ref Transform3d other)
{
Rotation.ApplyInverse(ref other.Rotation);
other.Translation = ApplyInverse(other.Translation);
other.Scale /= Scale;
}
/// <summary>
/// Applies this transformation to the given transformation.
/// </summary>
/// <param name="other"></param>
public void Apply(ref Transform3d other)
{
Rotation.Apply(ref other.Rotation);
other.Translation = Apply(other.Translation);
other.Scale *= Scale;
}