public void TestFromRotationAboutCenter()
{
var rnd = new Random(0);
var rotation = RandomUtil.UnitQuaternion(rnd);
var center = RandomUtil.Vector3(rnd);
RigidTransform transform = RigidTransform.FromRotation(rotation, center);
var testPoint = RandomUtil.Vector3(rnd);
MathAssert.AreEqual(
Vector3.Transform(testPoint - center, rotation) + center,
transform.Transform(testPoint),
Acc);
}
private RigidTransform GetObjectCenteredRotationTransform(RigidBoneSystemInputs inputs)
{
Quaternion rotation = GetRotation(inputs);
return(RigidTransform.FromRotation(rotation, centerPoint));
}