IList <FracturedParticle> fractureSolidWithPositionAndRotation(SpatialVectorDouble objectGlobalPosition, Quaternion objectRotation, SolidCluster.SolidWithPositionAndRotation solidWithPositionAndRotation)
{
uint roughtlyNumberOfFracturedElements = 64;
IList <FracturedParticle> fracturedParticles = SimpleFracturing.fractureSolid(solidWithPositionAndRotation.solid, roughtlyNumberOfFracturedElements);
// transform positions from local to global
foreach (FracturedParticle iFracturedParticle in fracturedParticles)
{
Matrix localToGlobalTranslation = MatrixUtilities.calcLocalToGlobalTranslationMatrix(objectGlobalPosition);
Matrix localToGlobalRotation = QuaternionUtilities.convToRotationMatrix4(objectRotation);
Matrix localToGlobal =
(localToGlobalTranslation * localToGlobalRotation) *
MatrixUtilities.calcLocalToGlobalRotationAndTranslationMatrix(solidWithPositionAndRotation.localPosition, solidWithPositionAndRotation.localRotation);
iFracturedParticle.relativePosition = SpatialVectorUtilities.toVector3(new SpatialVectorDouble(localToGlobal * SpatialVectorUtilities.toVector4(iFracturedParticle.relativePosition).asMatrix));
}
return(fracturedParticles);
}
public Matrix calcLocalToGlobalTranslationMatrix()
{
return(MatrixUtilities.calcLocalToGlobalTranslationMatrix(position));
}