Base: add methods to transform a Vector3f with a Rotation or Placement

src/Base/Placement.cpp

@@ -160,6 +160,12 @@ void Placement::multVec(const Vector3d & src, Vector3d & dst) const
     dst += this->_pos;
 }
 
+void Placement::multVec(const Vector3f & src, Vector3f & dst) const
+{
+    this->_rot.multVec(src, dst);
+    dst += Base::toVector<float>(this->_pos);
+}
+
 Placement Placement::slerp(const Placement & p0, const Placement & p1, double t)
 {
     Rotation rot = Rotation::slerp(p0.getRotation(), p1.getRotation(), t);

src/Base/Placement.h

@@ -76,6 +76,7 @@ public:
     Placement pow(double t, bool shorten = true) const;
 
     void multVec(const Vector3d & src, Vector3d & dst) const;
+    void multVec(const Vector3f & src, Vector3f & dst) const;
     //@}
 
     static Placement slerp(const Placement & p0, const Placement & p1, double t);

src/Base/Rotation.cpp

@@ -445,6 +445,20 @@ void Rotation::multVec(const Vector3d & src, Vector3d & dst) const
     dst.z = dz;
 }
 
+void Rotation::multVec(const Vector3f & src, Vector3f & dst) const
+{
+    Base::Vector3d srcd = Base::toVector<double>(src);
+    multVec(srcd, srcd);
+    dst = Base::toVector<float>(srcd);
+}
+
+Vector3f Rotation::multVec(const Vector3f & src) const
+{
+    Vector3f dst;
+    multVec(src,dst);
+    return dst;
+}
+
 void Rotation::scaleAngle(const double scaleFactor)
 {
     Vector3d axis;

src/Base/Rotation.h

@@ -135,6 +135,8 @@ public:
 
     void multVec(const Vector3d & src, Vector3d & dst) const;
     Vector3d multVec(const Vector3d & src) const;
+    void multVec(const Vector3f & src, Vector3f & dst) const;
+    Vector3f multVec(const Vector3f & src) const;
     void scaleAngle(const double scaleFactor);
     bool isSame(const Rotation&) const;
     bool isSame(const Rotation&, double tol) const;