/// <summary> /// Modifies a contribution using a transform, position, and weight. /// </summary> /// <param name="transform">Transform to use to modify the contribution.</param> /// <param name="center">Center to use to modify the contribution.</param> /// <param name="baseContribution">Original unmodified contribution.</param> /// <param name="weight">Weight of the contribution.</param> /// <param name="contribution">Transformed contribution.</param> public static void TransformContribution(ref RigidTransform transform, ref Vector3 center, ref Matrix3x3 baseContribution, float weight, out Matrix3x3 contribution) { Matrix3x3 rotation; Matrix3x3.CreateFromQuaternion(ref transform.Orientation, out rotation); Matrix3x3 temp; //Do angular transformed contribution first... Matrix3x3.MultiplyTransposed(ref rotation, ref baseContribution, out temp); Matrix3x3.Multiply(ref temp, ref rotation, out temp); contribution = temp; //Now add in the offset from the origin. Vector3 offset; Vector3.Subtract(ref transform.Position, ref center, out offset); Matrix3x3 innerProduct; Matrix3x3.CreateScale(offset.LengthSquared(), out innerProduct); Matrix3x3 outerProduct; Matrix3x3.CreateOuterProduct(ref offset, ref offset, out outerProduct); Matrix3x3.Subtract(ref innerProduct, ref outerProduct, out temp); Matrix3x3.Add(ref contribution, ref temp, out contribution); Matrix3x3.Multiply(ref contribution, weight, out contribution); }