C# Class BEPUutilities2.RigidTransform

Transform composed of a rotation and translation.

Public Properties

Property	Type	Description
Orientation	Quaternion
Position	System.Numerics.Vector3

Method	Description
Invert ( RigidTransform &transform, RigidTransform &inverse ) : void	Inverts a rigid transform.
Multiply ( RigidTransform &a, RigidTransform &b, RigidTransform &combined ) : void	Concatenates a rigid transform with another rigid transform.
MultiplyByInverse ( RigidTransform &a, RigidTransform &b, RigidTransform &combinedTransform ) : void	Concatenates a rigid transform with another rigid transform's inverse.
RigidTransform ( Quaternion orienation ) : System.Numerics	Constructs a new rigid transform.
RigidTransform ( System.Numerics.Vector3 position ) : System.Numerics	Constructs a new rigid transform.
RigidTransform ( System.Numerics.Vector3 position, Quaternion orientation ) : System.Numerics	Constructs a new rigid transform.
Transform ( System.Numerics.Vector3 &position, RigidTransform &transform, System.Numerics.Vector3 &result ) : void	Transforms a position by a rigid transform.
TransformByInverse ( System.Numerics.Vector3 &position, RigidTransform &transform, System.Numerics.Vector3 &result ) : void	Transforms a position by a rigid transform's inverse.

Inverts a rigid transform.

public static Invert ( RigidTransform &transform, RigidTransform &inverse ) : void
transform	RigidTransform	Transform to invert.
inverse	RigidTransform	Inverse of the transform.
return	void

Concatenates a rigid transform with another rigid transform.

public static Multiply ( RigidTransform &a, RigidTransform &b, RigidTransform &combined ) : void
a	RigidTransform	The first rigid transform.
b	RigidTransform	The second rigid transform.
combined	RigidTransform	Concatenated rigid transform.
return	void

Concatenates a rigid transform with another rigid transform's inverse.

public static MultiplyByInverse ( RigidTransform &a, RigidTransform &b, RigidTransform &combinedTransform ) : void
a	RigidTransform	The first rigid transform.
b	RigidTransform	The second rigid transform whose inverse will be concatenated to the first.
combinedTransform	RigidTransform	Combined rigid transform.
return	void

Constructs a new rigid transform.

public RigidTransform ( Quaternion orienation ) : System.Numerics
orienation	Quaternion	Rotation component of the transform.
return	System.Numerics

Constructs a new rigid transform.

public RigidTransform ( System.Numerics.Vector3 position ) : System.Numerics
position	System.Numerics.Vector3	Translation component of the transform.
return	System.Numerics

Constructs a new rigid transform.

public RigidTransform ( System.Numerics.Vector3 position, Quaternion orientation ) : System.Numerics
position	System.Numerics.Vector3	Translation component of the transform.
orientation	Quaternion	Rotation component of the transform.
return	System.Numerics

Transforms a position by a rigid transform.

public static Transform ( System.Numerics.Vector3 &position, RigidTransform &transform, System.Numerics.Vector3 &result ) : void
position	System.Numerics.Vector3	Position to transform.
transform	RigidTransform	Transform to apply.
result	System.Numerics.Vector3	Transformed position.
return	void

Transforms a position by a rigid transform's inverse.

public static TransformByInverse ( System.Numerics.Vector3 &position, RigidTransform &transform, System.Numerics.Vector3 &result ) : void
position	System.Numerics.Vector3	Position to transform.
transform	RigidTransform	Transform to invert and apply.
result	System.Numerics.Vector3	Transformed position.
return	void

Rotation component of the transform.

public Quaternion Orientation
return	Quaternion

Translation component of the transform.

public Vector3,System.Numerics Position
return	System.Numerics.Vector3