// Start is called before the first frame update
void Start()
{
worldTransformMatrix = new MadeMatrix4x4(
1.0f, 0.0f, 0.0f, transform.position.x,
0.0f, 1.0f, 0.0f, transform.position.y,
0.0f, 0.0f, 1.0f, transform.position.z,
0.0f, 0.0f, 0.0f, 1.0f
);
worldTransformMatrix.calculateInv();
worldTranformInverseMatrix = new MadeMatrix4x4();
worldTranformInverseMatrix.matrix = worldTransformMatrix.invMatrix;
torqueContainer.worldCenterOfMass = transform.position;
torqueContainer.localCenterOfMass = Vector3.zero;
SetMass(forces.startingMass);
particle3DTransform.position = transform.position;
Quaternion rot = gameObject.transform.rotation;
Vector4 quatVals = new Vector4(rot.x, rot.y, rot.z, 1);
particle3DTransform.rotation = new MadeQuaternion(quatVals.x, quatVals.y, quatVals.z);
UpdateInertia();
colHull = this.gameObject.GetComponent <CollisionHull2D>();
}
void UpdateWorldMatrix()
{
float cosX = Mathf.Cos(particle3DTransform.eulerAngle.x * Mathf.Deg2Rad);
float sinX = Mathf.Sin(particle3DTransform.eulerAngle.x * Mathf.Deg2Rad);
float cosY = Mathf.Cos(particle3DTransform.eulerAngle.y * Mathf.Deg2Rad);
float sinY = Mathf.Sin(particle3DTransform.eulerAngle.y * Mathf.Deg2Rad);
float cosZ = Mathf.Cos(particle3DTransform.eulerAngle.z * Mathf.Deg2Rad);
float sinZ = Mathf.Sin(particle3DTransform.eulerAngle.z * Mathf.Deg2Rad);
worldTransformMatrix = new MadeMatrix4x4(
cosY * cosZ, -cosY * sinZ, sinY, transform.position.x,
sinX * sinY * cosZ + cosX * sinZ, -sinX * sinY * sinZ + cosX * cosZ, -sinX * cosY, transform.position.y,
-cosX * sinY * cosZ + sinX * sinZ, cosX * sinY * sinZ + sinX * cosZ, cosX * cosY, transform.position.z,
0.0f, 0.0f, 0.0f, 1.0f
);
worldTransformMatrix.calculateInv();
worldTranformInverseMatrix.matrix = worldTransformMatrix.invMatrix;
}
