UFUN和NXOPEN中的变换矩阵区别

UFUN中用于实体变换矩阵的函数为：

UF_MODL_transform_entities 

NXOPEN中用于装配组件变换矩阵的类为：

ComponentNetwork

它们的变换矩阵方式是不同的，前者为动态变换，后者为静态变换。

动态变换求法：

            var invert = Current.Inverse();
            var trans = invert.Multiply(position);

静态变换求法（先旋转后平移）：

            var cur = Current;
            cur.Transpose();//转置
            var pos = position;
            pos.Transpose();//转置
            var trans = cur.Inverse().Multiply(pos);
            var rotation = trans.UpperLeft.ToMatrix3x3();
            trans.Transpose();
            var translation = trans.Translation.ToVector3d();

分享下我的两个移动相关的类（部分相关类没有提供）：

public class MoveObjectBuilder
    {
        #region Conductor
        protected MoveObjectBuilder() { }
        public static MoveObjectBuilder Create(List<Tag> objs, Matrix44 matrix)
        {
            var mObj = new MoveObjectBuilder();
            mObj.Current = matrix;
            mObj.HomePosition = matrix;
            mObj.Objects.AddRange(objs);
            return mObj;
        }
        public static MoveObjectBuilder Create(List<Tag> objs, SpecifyOrientation manip)
        {
            var mObj = Create(objs, manip.GetPosition());
            mObj.Manip = manip;
            return mObj;
        }
        #endregion

        #region Fields
        private static UFSession theUfSession = UFSession.GetUFSession();
        private static Session theSession = Session.GetSession();
        #endregion

        #region Properties
        public List<Tag> Objects { get; protected set; } = new List<Tag>();
        public Matrix44 Current { get; protected set; }
        public Matrix44 HomePosition { get; protected set; }
        public SpecifyOrientation Manip { get; protected set; }
        #endregion

        #region Methods
        public void Move(Matrix44 position)
        {
            var invert = Current.Inverse();
            var trans = invert.Multiply(position);
            theUfSession.Modl.TransformEntities(
                Objects.Count, Objects.ToArray(), trans.ToArray());
            Current = position;
            theUfSession.Modl.Update();
        }
        public void BackHome()
        {
            Move(HomePosition);
        }
        public bool Update()
        {
            if (Manip == null)
            {
                return false;
            }
            Move(Manip.GetPosition());
            return true;
        }
        public bool UpdateManipOnly()
        {
            if (Manip==null)
            {
                return false;
            }
            Current = Manip.GetPosition();
            return true;
        }
        #endregion
    }

public class MoveComponentBuilder
    {
        #region Constructors
        protected MoveComponentBuilder()
        {
            var workPart = theSession.Parts.Work;
            _positioner = workPart.ComponentAssembly.Positioner;
            _netWork = (ComponentNetwork)_positioner.EstablishNetwork();
        }
        public static MoveComponentBuilder Create(List<Component> components, Matrix44 matrix)
        {
            var mCompBuilder = new MoveComponentBuilder();
            mCompBuilder.Current = matrix;
            mCompBuilder.HomePosition = matrix;
            mCompBuilder.Components.AddRange(components);
            mCompBuilder._netWork.SetMovingGroup(components.ToArray());
            mCompBuilder._netWork.MoveObjectsState = true;
            return mCompBuilder;
        }
        public static MoveComponentBuilder Create(List<Component> components,SpecifyOrientation manip)
        {
            var mCompBuilder = Create(components, manip.GetPosition());
            mCompBuilder.Manip = manip;
            return mCompBuilder;
        }

        #endregion

        #region Fields
        private Positioner _positioner;
        private ComponentNetwork _netWork;
        private Session theSession = Session.GetSession();
        #endregion

        #region Properties
        public Matrix44 Current { get; protected set; }
        public Matrix44 HomePosition { get; protected set; }
        public List<Component> Components { get; protected set; } = new List<Component>();
        public SpecifyOrientation Manip { get; protected set; }
        #endregion

        #region Methods
        public void Move(Matrix44 position)
        {
            var cur = Current;
            cur.Transpose();//转置
            var pos = position;
            pos.Transpose();//转置
            var trans = cur.Inverse().Multiply(pos);
            var rotation = trans.UpperLeft.ToMatrix3x3();
            trans.Transpose();
            var translation = trans.Translation.ToVector3d();

            _netWork.BeginDrag();
            _netWork.DragByTransform(translation,rotation);
            _netWork.EndDrag();
            Current = position;
        }
        public void BackHome()
        {
            Move(HomePosition);
        }
        public bool Update()
        {
            if (Manip==null)
            {
                return false;
            }
            Move(Manip.GetPosition());
            return true;
        }
        public bool UpdateManipOnly()
        {
            if (Manip==null)
            {
                return false;
            }
            Current = Manip.GetPosition();
            return true;
        }
        public void Apply()
        {
            _netWork.Solve();
        }
        #endregion
    }