public static void RotateAround(ref Vector3 vector, ref Vector3 axis, float angle, out Vector3 result)
{
// rotate into world space
var quaternion = Quaternion.FromRotationAxis(axis, 0);
Quaternion.Conjugate(ref quaternion, out quaternion);
Vector3.Transform(ref vector, ref quaternion, out result);
// rotate back to vector space
Quaternion.FromRotationAxis(ref axis, angle, out quaternion);
Vector3.Transform(ref result, ref quaternion, out result);
}
public Vector3 RotateAround(Vector3 axis, float angle)
{
// rotate into world space
var quaternion = Quaternion.FromRotationAxis(axis, 0);
Quaternion.Conjugate(ref quaternion, out quaternion);
var worldSpaceVector = this.Transform(quaternion);
// rotate back to vector space
Quaternion.FromRotationAxis(ref axis, angle, out quaternion);
Vector3.Transform(ref worldSpaceVector, ref quaternion, out worldSpaceVector);
return(worldSpaceVector);
}
public static void Invert(ref RigidTransform3 transform, out RigidTransform3 result)
{
Quaternion.Conjugate(ref transform.Orientation, out result.Orientation);
Vector3.Transform(ref transform.Position, ref result.Orientation, out result.Position);
result.Position = -result.Position;
}
public static void TransformInversed(ref Vector3 vector, ref RigidTransform3 transform, out Vector3 result)
{
result = vector - transform.Position;
Quaternion.Conjugate(ref transform.Orientation, out transform.Orientation);
Vector3.Transform(ref vector, ref transform.Orientation, out result);
}
