public static Transform Interpolate(Transform t1, Transform t2, float blendFactor)
{
return new Transform(
Quaternion.Slerp(t1.Rotation, t2.Rotation, blendFactor),
Vector3.Lerp(t1.Translation, t2.Translation, blendFactor)
);
}
public static void Invert(ref Transform t)
{
Vector3 v;
Quaternion.Conjugate(ref t.Rotation, out t.Rotation);
Vector3.Transform(ref t.Translation, ref t.Rotation, out v);
t.Translation = -v;
}
public static void Multiply(ref Transform t1, ref Transform t2, out Transform t)
{
Vector3 temp;
Vector3.Transform(ref t2.Translation, ref t1.Rotation, out temp);
Vector3.Add(ref temp, ref t1.Translation, out t.Translation);
Quaternion.Multiply(ref t1.Rotation, ref t2.Rotation, out t.Rotation);
Quaternion.Normalize(ref t.Rotation, out t.Rotation);
}