public Quaternion GetRotation(RigidBoneSystemInputs inputs)
{
Quaternion orientedSpaceRotation = GetOrientedSpaceRotation(inputs).AsQuaternion(RotationOrder.TwistAxis);
Quaternion objectSpaceRotation = orientationSpace.TransformFromOrientedSpace(orientedSpaceRotation);
return(objectSpaceRotation);
}
public Quaternion GetRotation(ChannelOutputs outputs)
{
OrientationSpace orientationSpace = GetOrientationSpace(outputs);
Vector3 rotationAngles = Rotation.GetValue(outputs);
TwistSwing rotationTwistSwing = RotationOrder.FromTwistSwingAngles(MathExtensions.DegreesToRadians(rotationAngles));
rotationTwistSwing = RotationConstraint.Clamp(rotationTwistSwing);
Quaternion orientedSpaceRotation = rotationTwistSwing.AsQuaternion(RotationOrder.TwistAxis);
Quaternion worldSpaceRotation = orientationSpace.TransformFromOrientedSpace(orientedSpaceRotation);
return(worldSpaceRotation);
}
