Record TTransformation

Transformation from local to outside coordinate space.

Inverted Transform matrix.

Note that any scale with zero component along the way will make this partially invalid (we'll substitute identity in place of inverted scaling matrix). This is unavoidable, there's no reverse matrix for scaling with zero factor, since one resulting point may correpond to infinitely many source points (i.e., it's natural that such scaling function cannot be reversed).

A uniform scale of the matrix Transform. If the matrix causes non-uniform scaling, this value represents an average scale.

Is the underlying scale uniform (which means that Scale accurately represents the scaling, is not only approximate).

Make no transformation (identity matrix, scale 1).

Modify transformation by an additional translation, rotation, scaling.

Multiplies at the same time transformation matrix in Transform, and it's inverse in InverseTransform. The precise meaning of Center, Translation and other parameters follows exactly the X3D Transform node definition (see http://www.web3d.org/files/specifications/19775-1/V3.2/Part01/components/group.html#Transform ).

Parameters

Rotation

Rotation is expressed as a 4D vector, in which the first 3 components specify the rotation axis (does not need to be normalized, but must be non-zero), and the last component is the rotation angle in radians.

Modify transformation by an additional transformation matrix.

Using this is very discouraged, as we need to assume UniformScale=false, which in turn e.g. makes sphere collisions worse (at some transformations, they have to treat sphere as something larger). That is because matrix can contain any transformation, and even using MatrixDecompose and then analyzing whether resulting scale has X=Y=Z would be unreliable. Testcases:

- Rendering ghost teeth in castle-game.

This shows that we cannot just replace matrix with translation+rotation+scale by MatrixDecompose, matrix can contain other transformations like shear. So we need to account whole matrix. Replacing MultiplyMatrix(matrix) with MatrixDecompose + Multiply(vectors) makes wrong rendering.

- Graves on "The Gate" level in castle-game.

This shows that even calculating UniformScale based on scale resulting from MatrixDecompose doesn't work reliably. Replacing inside MultiplyMatrix the UniformScale detection, to assume true when scale (from MatrixDecompose) has X=Y=Z, results in blocked movement. MatrixDecompose cannot account fo arbitrary matrix that can contain anything.

- Beginng position (blocked movement) on "castle hall" level in castle-game.

Same as above. Shows that we cannot detect UniformScale smartly.

Use the Multiply instead to provide separate translation, rotation etc. vectors. Use this method only when you are forced to do so, i.e. your input is already a matrix.

Modify transformation by an additional translation.