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Assets/Obi/Scripts/Common/DataStructures/AffineTransform.cs

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+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public struct AffineTransform
+    {
+        public Vector4 translation;
+        public Vector4 scale;
+        public Quaternion rotation;
+
+        public AffineTransform(Vector4 translation, Quaternion rotation, Vector4 scale)
+        {
+            // make sure there are good values in the 4th component:
+            translation[3] = 0;
+            scale[3] = 1;
+
+            this.translation = translation;
+            this.rotation = rotation;
+            this.scale = scale;
+        }
+
+        public void FromTransform3D(Transform source, ObiRigidbody rb)
+        {
+            if (rb != null && rb.unityRigidbody != null)
+            {
+                translation = source.position - rb.unityRigidbody.transform.position + rb.position;
+                rotation = (source.rotation * Quaternion.Inverse(rb.unityRigidbody.transform.rotation)) * rb.rotation;
+            }
+            else
+            {
+                translation = source.position;
+                rotation = source.rotation;
+            }
+
+            scale = source.lossyScale;
+        }
+
+        public void FromTransform2D(Transform source, ObiRigidbody2D rb)
+        {
+            if (rb != null && rb.unityRigidbody != null)
+            {
+                translation = source.position - rb.unityRigidbody.transform.position + (Vector3)rb.position;
+                rotation =  (source.rotation * Quaternion.Inverse(rb.unityRigidbody.transform.rotation)) * Quaternion.AngleAxis(rb.rotation, Vector3.forward);
+            }
+            else
+            {
+                translation = source.position;
+                rotation = source.rotation;
+            }
+
+            scale = source.lossyScale;
+            translation[2] = 0;
+        }
+
+        public AffineTransform Inverse()
+        {
+            var conj = Quaternion.Inverse(rotation);
+            var invScale = new Vector3(1 / scale.x, 1 / scale.y, 1 / scale.z);
+            return new AffineTransform(conj * Vector3.Scale(translation , -invScale),
+                                       conj,
+                                       invScale);
+        }
+    }
+}