// ----- ----- ----- ----- -----
public static PosRotScale Interpolate(PosRotScale px0, PosRotScale px1, float x)
{
return(new PosRotScale(
px1.position * x + px0.position * (1 - x),
Quaternion.Slerp(px0.rotation, px1.rotation, x),
px1.scale * x + px0.scale * (1 - x)
));
}
public PosRotScale Inverse()
{
PosRotScale result = new PosRotScale();
result.rotation = Quaternion.Inverse(rotation);
result.scale = scaleInv;
result.position = -(rotation * Vector3.Scale(scale, position));
return(result);
}
public PosRotScale InverseTransformPosRotScale(PosRotScale posrotscale)
{
PosRotScale result = new PosRotScale();
result.position = Quaternion.Inverse(rotation) * Vector3.Scale(scaleInv, (posrotscale.position - position));
result.rotation = (Quaternion.Inverse(rotation) * posrotscale.rotation).normalized;
result.scale = Vector3.Scale(scaleInv, posrotscale.scale);
return(result);
}
public PosRotScale TransformPosRotScale(PosRotScale posrotscale)
{
PosRotScale result = new PosRotScale();
result.position = position + rotation * Vector3.Scale(scale, posrotscale.position);
result.rotation = (rotation * posrotscale.rotation).normalized;
result.scale = Vector3.Scale(scale, posrotscale.scale);
return(result);
}
public static PosRotScale Parse(string line)
{
var data = line.Split(',').Select(s => float.Parse(s));
PosRotScale pose = new PosRotScale();
pose.position = new Vector3(data.ElementAt(0), data.ElementAt(1), data.ElementAt(2));
pose.rotation = new Quaternion(data.ElementAt(3), data.ElementAt(4), data.ElementAt(5), data.ElementAt(6));
pose.scale = new Vector3(data.ElementAt(7), data.ElementAt(8), data.ElementAt(9));
return(pose);
}
public PosRotScale(PosRotScale p)
{
position = p.position; rotation = p.rotation; scale = p.scale;
}