public Tuple3 CenterOfMass(ReferenceFrame referenceFrame)
{
if (ReferenceEquals(referenceFrame, null))
{
throw new ArgumentNullException("referenceFrame");
}
return(referenceFrame.PositionFromWorldSpace(InternalPart.CenterOfMass()).ToTuple());
}
public Tuple3 Position(ReferenceFrame referenceFrame)
{
if (ReferenceEquals(referenceFrame, null))
{
throw new ArgumentNullException(nameof(referenceFrame));
}
return(referenceFrame.PositionFromWorldSpace(InternalPart.transform.position).ToTuple());
}
public Tuple3 Position(ReferenceFrame referenceFrame)
{
if (ReferenceEquals(referenceFrame, null))
{
throw new ArgumentNullException("referenceFrame");
}
return(referenceFrame.PositionFromWorldSpace(port.nodeTransform.position).ToTuple());
}
/// <summary>
/// Computes the axis-aligned bounding box for a part in the given reference frame.
/// </summary>
/// <remarks>
/// This is an expensive calculation. It iterates over the parts collider meshes
/// to compute a tight axis-aligned bounding box.
/// It does not use part.collider.bounds, as this is aligned to world space and
/// would not provide a tight bounding box in the given reference frame.
/// </remarks>
public static Bounds GetBounds(this Part part, ReferenceFrame referenceFrame)
{
var colliders = part.GetComponentsInChildren <MeshCollider> ();
var bounds = new Bounds(referenceFrame.PositionFromWorldSpace(part.WCoM), Vector3.zero);
foreach (var collider in colliders)
{
var vertices = collider.sharedMesh.bounds.ToVertices();
for (int i = 0; i < vertices.Length; i++)
{
// part space -> world space -> reference frame space
var vertex = referenceFrame.PositionFromWorldSpace(collider.transform.TransformPoint(vertices [i]));
bounds.Encapsulate(vertex);
}
}
return(bounds);
}
/// <summary>
/// Computes the axis-aligned bounding box for a part in the given reference frame.
/// </summary>
/// <remarks>
/// This is an expensive calculation. It iterates over the parts collider meshes
/// to compute a tight axis-aligned bounding box.
/// It does not use part.collider.bounds, as this is aligned to world space and
/// would not provide a tight bounding box in the given reference frame.
/// </remarks>
public static Bounds GetBounds(this Part part, ReferenceFrame referenceFrame)
{
var bounds = new Bounds(referenceFrame.PositionFromWorldSpace(part.WCoM), Vector3.zero);
var meshes = part.GetComponentsInChildren <MeshFilter> ();
for (int i = 0; i < meshes.Length; i++)
{
var mesh = meshes [i];
var vertices = mesh.mesh.bounds.ToVertices();
for (int j = 0; j < vertices.Length; j++)
{
// mesh space -> world space -> reference frame space
var vertex = referenceFrame.PositionFromWorldSpace(mesh.transform.TransformPoint(vertices [j]));
bounds.Encapsulate(vertex);
}
}
return(bounds);
}
public Tuple3 GimbalPosition(ReferenceFrame referenceFrame)
{
if (ReferenceEquals(referenceFrame, null))
{
throw new ArgumentNullException(nameof(referenceFrame));
}
CheckGimballed();
return(referenceFrame.PositionFromWorldSpace(gimbal.gimbalTransforms [transformIndex].position).ToTuple());
}
public Tuple3 InitialThrustPosition(ReferenceFrame referenceFrame)
{
if (ReferenceEquals(referenceFrame, null))
{
throw new ArgumentNullException(nameof(referenceFrame));
}
StashGimbalRotation();
var position = WorldTransform.position;
RestoreGimbalRotation();
return(referenceFrame.PositionFromWorldSpace(position).ToTuple());
}
public static Tuple3 TransformPosition (Tuple3 position, ReferenceFrame from, ReferenceFrame to)
{
CheckReferenceFrames (from, to);
return to.PositionFromWorldSpace (from.PositionToWorldSpace (position.ToVector ())).ToTuple ();
}
public Tuple3 Position(ReferenceFrame referenceFrame)
{
return(referenceFrame.PositionFromWorldSpace(InternalPart.transform.position).ToTuple());
}
public Tuple3 Position(ReferenceFrame referenceFrame)
{
return(referenceFrame.PositionFromWorldSpace(port.nodeTransform.position).ToTuple());
}