static void CreateBallSocket(ref RigidPose a, ref RigidPose b, out BallSocket description)
{
var midpoint = 0.5f * (a.Position + b.Position);
description.LocalOffsetA = Quaternion.Transform(midpoint - a.Position, Quaternion.Conjugate(a.Orientation));
description.LocalOffsetB = Quaternion.Transform(midpoint - b.Position, Quaternion.Conjugate(b.Orientation));
description.SpringSettings = new SpringSettings(15, 0.1f);
}
///<summary>
/// Transforms a position by a rigid transform's inverse.
///</summary>
///<param name="position">Position to transform.</param>
///<param name="transform">Transform to invert and apply.</param>
///<param name="result">Transformed position.</param>
public static void TransformByInverse(ref Vector3 position, ref RigidTransform transform, out Vector3 result)
{
Quaternion orientation;
Vector3 intermediate = position - transform.Position;
Quaternion.Conjugate(transform.Orientation, out orientation);
Quaternion.Transform(intermediate, orientation, out result);
}
static void CreateBallSocket(ref RigidPose a, ref RigidPose b, out BallSocket description)
{
var midpoint = 0.5f * (a.Position + b.Position);
description.LocalOffsetA = Quaternion.Transform(midpoint - a.Position, Quaternion.Conjugate(a.Orientation));
description.LocalOffsetB = Quaternion.Transform(midpoint - b.Position, Quaternion.Conjugate(b.Orientation));
description.SpringSettings = new SpringSettings
{
NaturalFrequency = (float)(Math.PI * 0.5f * 60),
DampingRatio = 0.1f
};
}
/// <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(ref transform.Orientation, out inverse.Orientation);
Quaternion.Transform(ref transform.Position, ref inverse.Orientation, out inverse.Position);
inverse.Position = -inverse.Position;
}
