Vec3 Transform(Vec3 point)
Transforms a point through the Matrix! This is basically just multiplying a vector (x,y,z,1) with the Matrix.
|Vec3 point||The point to transform.|
|RETURNS: Vec3||The point transformed by the Matrix.|
Ray Transform(Ray ray)
Shorthand to transform a ray though the Matrix! This properly transforms the position with the point transform method, and the direction with the direction transform method. Does not normalize, nor does it preserve a normalized direction if the Matrix contains scale data.
|Ray ray||A ray you wish to transform from one space to another.|
|RETURNS: Ray||The transformed ray!|
Pose Transform(Pose pose)
Shorthand for transforming a Pose! This will transform the position of the Pose with the matrix, extract a rotation Quat from the matrix and apply that to the Pose’s orientation. Note that extracting a rotation Quat is an expensive operation, so if you’re doing it more than once, you should cache the rotation Quat and do this transform manually.
|Pose pose||The original pose.|
|RETURNS: Pose||The transformed pose.|
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