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public static Conjugate ( quaternion ) : |
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| quaternion | Quaternion to conjugate. | |
| return | ||
///<summary>
/// Transforms a position by a rigid transform's inverse.
///</summary>
///<param name="position">Position to transform.</param>
///<param name="transform">Transform to invert and apply.</param>
///<param name="result">Transformed position.</param>
public static void TransformByInverse(ref Vector3 position, ref RigidTransform transform, out Vector3 result)
{
Quaternion orientation;
Vector3 intermediate;
Vector3.Subtract(ref position, ref transform.Position, out intermediate);
Quaternion.Conjugate(ref transform.Orientation, out orientation);
Vector3.Transform(ref intermediate, ref orientation, out result);
}
/// <summary>
/// Inverts a rigid transform.
/// </summary>
/// <param name="transform">Transform to invert.</param>
/// <param name="inverse">Inverse of the transform.</param>
public static void Invert(ref RigidTransform transform, out RigidTransform inverse)
{
Quaternion.Conjugate(ref transform.Orientation, out inverse.Orientation);
Vector3.Transform(ref transform.Position, ref inverse.Orientation, out inverse.Position);
Vector3.Negate(ref inverse.Position, out inverse.Position);
}