Matrix33F BaseTransform::orientation() const
{
Matrix33F r;
Vector3F angs = rotationAngles();
r.rotateEuler(angs.x, angs.y, angs.z, m_rotationOrder);
angs = rotationBaseAngles();
Matrix33F b;
b.rotateEuler(angs.x, angs.y, angs.z, m_rotationOrder);
r.multiply(b);
return r;
}
Vector3F BaseTransform::rotatePlane(RotateAxis a) const
{
Matrix33F base;
base.rotateEuler(rotationBaseAngles().x, rotationBaseAngles().y, rotationBaseAngles().z);
if(a == AZ) return base.transform(Vector3F::ZAxis);
Matrix33F r;
if(a == AY) {
r.rotateEuler(0.f, 0.f, rotationAngles().z);
r.multiply(base);
return r.transform(Vector3F::YAxis);
}
r = orientation();
return r.transform(Vector3F::XAxis);
}