51 lines
2.0 KiB
C#
51 lines
2.0 KiB
C#
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using System;
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using System.Collections.Generic;
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namespace UnityEngine.XR.ARFoundation
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{
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/// <summary>
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/// Several method extensions to <c>Pose</c> for inverse-transforming additional Unity types.
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/// </summary>
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public static class PoseExtensions
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{
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/// <summary>
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/// Inversely transform the <paramref name="position"/> by <c>Pose</c>.
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/// </summary>
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/// <param name="pose">The <c>Pose</c> to use.</param>
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/// <param name="position">A position to inversely transform.</param>
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/// <returns>A position inversely transformed by the <paramref name="pose"/>.</returns>
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public static Vector3 InverseTransformPosition(this Pose pose, Vector3 position)
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{
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return Quaternion.Inverse(pose.rotation) * (position - pose.position);
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}
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/// <summary>
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/// Inversely transform the <paramref name="direction"/> by <c>Pose</c>.
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/// </summary>
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/// <param name="pose">The <c>Pose</c> to use.</param>
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/// <param name="direction">A direction to inversely transform.</param>
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/// <returns>A direction inversely transformed by the <paramref name="pose"/>.</returns>
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public static Vector3 InverseTransformDirection(this Pose pose, Vector3 direction)
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{
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return Quaternion.Inverse(pose.rotation) * direction;
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}
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/// <summary>
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/// Inversely transform the <paramref name="positions"/> by <c>Pose</c>. The transform is made in-place.
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/// </summary>
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/// <param name="pose">The <c>Pose</c> to use.</param>
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/// <param name="positions">A <c>List</c> of positions to inversely transform.</param>
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public static void InverseTransformPositions(this Pose pose, List<Vector3> positions)
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{
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if (positions == null)
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throw new ArgumentNullException("positions");
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for (int i = 0; i < positions.Count; ++i)
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{
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positions[i] = pose.InverseTransformPosition(positions[i]);
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}
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}
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}
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}
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