public static Quaternion ReverseRotation(this AxisOrder target, CustomRotation relative, Quaternion?current = null) //WORKS!
{
Quaternion newRot;
if (current != null)
{
newRot = (Quaternion)current;
}
else
{
newRot = relative.rotation;
}
if (target.variety == SpaceVariety.OneSided)
{
for (int j = target.axes.Count; j > 0; j--)
{
AxisApplied i = target.axes[j - 1];
newRot = relative.Rotate(newRot, (Vectors.axisDirections[i.axis] * -i.units), target.space);
}
}
else if (target.variety == SpaceVariety.Mixed)
{
for (int j = target.axes.Count; j > 0; j--)
{
AxisApplied i = target.axes[j - 1];
newRot = relative.Rotate(newRot, (Vectors.axisDirections[i.axis] * -i.units), i.space);
}
}
return(newRot);
}
public static Vector3 ReversePosition(this AxisOrder target, CustomPosition relative, Vector3?current = null, float scale = 1f) //takes and return GLOBAL
{
Vector3 newPos;
if (current != null)
{
newPos = (Vector3)current;
}
else
{
newPos = relative.position;
}
if (target.variety == SpaceVariety.OneSided)
{
for (int j = target.axes.Count; j > 0; j--)
{
AxisApplied i = target.axes[j - 1];
newPos = relative.Translate(newPos, -(Vectors.axisDirections[i.axis] * i.units) * scale, target.space);
}
}
else if (target.variety == SpaceVariety.Mixed)
{
for (int j = target.axes.Count; j > 0; j--)
{
AxisApplied i = target.axes[j - 1];
newPos = relative.Translate(newPos, -(Vectors.axisDirections[i.axis] * i.units) * scale, i.space);
}
}
return(newPos);
} //WORKS!
