public Tuple4 Rotation(ReferenceFrame referenceFrame)
{
var up = Vector3.up;
var right = InternalBody.GetRelSurfacePosition(0, 0, 1).normalized;
var forward = Vector3.Cross(right, up);
Vector3.OrthoNormalize(ref forward, ref up);
var rotation = Quaternion.LookRotation(forward, up);
return(referenceFrame.RotationFromWorldSpace(rotation).ToTuple());
}
public Tuple4 Rotation (ReferenceFrame referenceFrame)
{
if (ReferenceEquals (referenceFrame, null))
throw new ArgumentNullException (nameof (referenceFrame));
var up = Vector3.up;
var right = InternalBody.GetRelSurfacePosition (0, 0, 1).normalized;
var forward = Vector3.Cross (right, up);
Vector3.OrthoNormalize (ref forward, ref up);
var rotation = Quaternion.LookRotation (forward, up);
return referenceFrame.RotationFromWorldSpace (rotation).ToTuple ();
}