void fkElement_ChainStateApplied(FKElement element, FKChainState chainState)
{
foreach (String name in chain.ChainStateNames)
{
var state = chainState[name];
chain.setLinkState(name, state.LocalTranslation, state.LocalRotation);
}
}
public void addToChainState(FKChainState chain)
{
chain.setLinkState(Owner.Name, Owner.Translation, Owner.Rotation);
foreach (var child in children)
{
child.addToChainState(chain);
}
}
public void addToChainState(FKChainState chain)
{
Quaternion inverseParentRot = parent.Rotation.inverse();
Vector3 parentTrans = parent.Translation;
Quaternion ourRotation = Owner.Rotation;
//Figure out the translation in parent space, first, however, we must transform the center of rotation offset by the current rotation.
//This makes the recorded translation offsets relative to the center of rotation point in world space instead of the center of this SimObject.
Vector3 localTranslation = Owner.Translation + Quaternion.quatRotate(ref ourRotation, ref centerOfRotationOffset) - parentTrans;
localTranslation = Quaternion.quatRotate(inverseParentRot, localTranslation);
Quaternion localRotation = inverseParentRot * ourRotation;
chain.setLinkState(Owner.Name, localTranslation, localRotation);
foreach (var child in children)
{
child.addToChainState(chain);
}
}
