MRRigidXf3.h

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#pragma once
 
#include "MRAffineXf3.h"
#include "MRQuaternion.h"
 
namespace MR
{
 
 
template <typename T>
struct RigidXf3
{
    using V = Vector3<T>;
 
    V a; 
    V b; 
 
    constexpr RigidXf3() noexcept = default;
    constexpr RigidXf3( const V & a, const V & b ) noexcept : a( a ), b( b ) { }
    template <typename U>
    constexpr explicit RigidXf3( const RigidXf3<U> & xf ) noexcept : a( xf.a ), b( xf.b ) { }
 
    [[nodiscard]] AffineXf3<T> rigidXf() const { return { Matrix3<T>( Quaternion<T>( a, a.length() ) ), b }; }
 
    [[nodiscard]] AffineXf3<T> linearXf() const { return { Matrix3<T>::approximateLinearRotationMatrixFromEuler( a ), b }; }
};
 
}