public static void Validate(this RigidTransform r)
{
r.Position.Validate();
r.Orientation.Validate();
}
///<summary>
/// Concatenates a rigid transform with another rigid transform. Assumes input and output do not overlap.
///</summary>
///<param name="a">The first rigid transform.</param>
///<param name="b">The second rigid transform.</param>
///<param name="combined">Concatenated rigid transform.</param>
public static void MultiplyWithoutOverlap(ref RigidTransform a, ref RigidTransform b, out RigidTransform combined)
{
Vector3 intermediate;
Quaternion.Transform(a.Position, b.Orientation, out intermediate);
combined.Position = intermediate + b.Position;
Quaternion.ConcatenateWithoutOverlap(a.Orientation, b.Orientation, out combined.Orientation);
}
///<summary>
/// Concatenates a rigid transform with another rigid transform's inverse. Assumes input and output do not overlap.
///</summary>
///<param name="a">The first rigid transform.</param>
///<param name="b">The second rigid transform whose inverse will be concatenated to the first.</param>
///<param name="combinedTransform">Combined rigid transform.</param>
public static void MultiplyByInverseWithoutOverlap(ref RigidTransform a, ref RigidTransform b, out RigidTransform combinedTransform)
{
Invert(ref b, out combinedTransform);
MultiplyWithoutOverlap(ref a, ref combinedTransform, out combinedTransform);
}
/// <summary>
/// Inverts a rigid transform.
/// </summary>
/// <param name="transform">Transform to invert.</param>
/// <param name="inverse">Inverse of the transform.</param>
public static void Invert(ref RigidTransform transform, out RigidTransform inverse)
{
Quaternion.Conjugate(transform.Orientation, out inverse.Orientation);
Quaternion.Transform(transform.Position, inverse.Orientation, out inverse.Position);
inverse.Position = -inverse.Position;
}
