Vec3 Transform(Vec3 point)

Vec3 point The point to transform.
RETURNS: Vec3 The point transformed by the Matrix.

Transforms a point through the Matrix! This is basically just multiplying a vector (x,y,z,1) with the Matrix.

Ray Transform(Ray ray)

Ray ray A ray you wish to transform from one space to another.
RETURNS: Ray The transformed 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.

Pose Transform(Pose pose)

Pose pose The original pose.
RETURNS: Pose The transformed 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.

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