void ProcessMatrix()
{
_local = new Matrix4x5(localPosition, localRotation);
_localToWorld = parent ? _parent.localToWorldMatrix * _local : _local;
_worldToLocal = Matrix4x5.Inverse(_localToWorld);
_matrixDirty = false;
}
/// <summary>
/// Inverse the matrix
/// </summary>
public static Matrix4x5 Inverse(Matrix4x5 t)
{
t.rotation = Matrix4.Transpose(t.rotation);
t.position = t.rotation * -t.position;
return(t);
}
/// <summary>
/// Transform the inertia.
/// </summary>
public static Tensor4 Transform(Tensor4 I, Matrix4x5 T, float mass)
{
return(Transform(I, T.rotation) + Transform(T.position, mass));
}