# RigidTransform

> Returns a RigidTransform constructed from a rotation represented by a unit quaternion and a translation represented by a float3 vector.

## Definition

* **Type:** Method
* **Namespace:** [Unity.Mathematics](/engine/6000.7/script-reference/unity/mathematics.md)
* **Assembly:** UnityEngine.MathematicsModule

## RigidTransform(quaternion, float3)

Returns a RigidTransform constructed from a rotation represented by a unit quaternion and a translation represented by a float3 vector.

```csharp
public static RigidTransform RigidTransform(quaternion rot, float3 pos)
```

### Parameters

**** (\[quaternion]\(/engine/6000.7/script-reference/unity/mathematics/quaternion)): The quaternion rotation.**** (\[float3]\(/engine/6000.7/script-reference/unity/mathematics/float3)): The translation vector.

### Returns

| Type                                                                                  | Description                                                                 |
| ------------------------------------------------------------------------------------- | --------------------------------------------------------------------------- |
| [RigidTransform](/engine/6000.7/script-reference/unity/mathematics/rigidtransform.md) | The RigidTransform of the given rotation quaternion and translation vector. |

## RigidTransform(float3x3, float3)

Returns a RigidTransform constructed from a rotation represented by a float3x3 rotation matrix and a translation represented by a float3 vector.

```csharp
public static RigidTransform RigidTransform(float3x3 rotation, float3 translation)
```

### Parameters

**** (\[float3x3]\(/engine/6000.7/script-reference/unity/mathematics/float3x3)): The float3x3 rotation matrix.**** (\[float3]\(/engine/6000.7/script-reference/unity/mathematics/float3)): The translation vector.

### Returns

| Type                                                                                  | Description                                                             |
| ------------------------------------------------------------------------------------- | ----------------------------------------------------------------------- |
| [RigidTransform](/engine/6000.7/script-reference/unity/mathematics/rigidtransform.md) | The RigidTransform of the given rotation matrix and translation vector. |

## RigidTransform(float4x4)

Returns a RigidTransform constructed from a rotation represented by a float3x3 matrix and a translation represented by a float3 vector.

```csharp
public static RigidTransform RigidTransform(float4x4 transform)
```

### Parameters

**** (\[float4x4]\(/engine/6000.7/script-reference/unity/mathematics/float4x4)): The float4x4 transformation matrix.

### Returns

| Type                                                                                  | Description                                                     |
| ------------------------------------------------------------------------------------- | --------------------------------------------------------------- |
| [RigidTransform](/engine/6000.7/script-reference/unity/mathematics/rigidtransform.md) | The RigidTransform of the given float4x4 transformation matrix. |