public void SetRotation(RigidBoneSystemInputs inputs, Quaternion objectSpaceRotation, bool applyClamp = false)
{
Quaternion orientatedSpaceRotation = orientationSpace.TransformToOrientedSpace(objectSpaceRotation);
TwistSwing orientedSpaceTwistSwing = TwistSwing.Decompose(RotationOrder.TwistAxis, orientatedSpaceRotation);
SetOrientedSpaceRotation(inputs, orientedSpaceTwistSwing, applyClamp);
}
private Matrix3x3 GetCombinedScale(ChannelOutputs outputs)
{
Vector3 scale = Scale.GetValue(outputs);
float generalScale = (float)GeneralScale.GetValue(outputs);
var objectSpaceScaling = Matrix3x3.Scaling(scale * generalScale);
OrientationSpace orientationSpace = GetOrientationSpace(outputs);
var orientedSpaceScaling = orientationSpace.TransformToOrientedSpace(objectSpaceScaling);
return(orientedSpaceScaling);
}
public Vector3 ConvertRotationToAngles(ChannelOutputs orientationOutputs, Quaternion objectSpaceRotation, bool applyClamp)
{
OrientationSpace orientationSpace = GetOrientationSpace(orientationOutputs);
Quaternion orientatedSpaceRotationQ = orientationSpace.TransformToOrientedSpace(objectSpaceRotation);
TwistSwing orientatedSpaceRotation = TwistSwing.Decompose(RotationOrder.TwistAxis, orientatedSpaceRotationQ);
if (applyClamp)
{
orientatedSpaceRotation = RotationConstraint.Clamp(orientatedSpaceRotation);
}
Vector3 rotationAnglesRadians = RotationOrder.ToTwistSwingAngles(orientatedSpaceRotation);
Vector3 rotationAnglesDegrees = MathExtensions.RadiansToDegrees(rotationAnglesRadians);
return(rotationAnglesDegrees);
}