# RigidTransform

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

## Definition

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

## RigidTransform(quaternion, float3)

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

```csharp
public RigidTransform(quaternion rotation, float3 translation)
```

### 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.

## RigidTransform(float3x3, float3)

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

```csharp
public 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.

## RigidTransform(float4x4)

Constructs a RigidTransform from a float4x4. Assumes the matrix is orthonormal.

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

### Parameters

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