quantum-space-buddies/QSB/Utility/RelativeTransformUtil.cs

using UnityEngine;

namespace QSB.Utility;

public static class RelativeTransformUtil
{
	public static Vector3 ToRelPos(this Transform reference, Vector3 pos) => reference.InverseTransformPoint(pos);
	public static Vector3 FromRelPos(this Transform reference, Vector3 relPos) => reference.TransformPoint(relPos);
	public static Quaternion ToRelRot(this Transform reference, Quaternion rot) => reference.InverseTransformRotation(rot);
	public static Quaternion FromRelRot(this Transform reference, Quaternion relRot) => reference.TransformRotation(relRot);
	public static Vector3 ToRelVel(this OWRigidbody reference, Vector3 vel, Vector3 pos) => vel - reference.GetPointVelocity(pos);
	public static Vector3 FromRelVel(this OWRigidbody reference, Vector3 relVel, Vector3 pos) => relVel + reference.GetPointVelocity(pos);
	public static Vector3 ToRelAngVel(this OWRigidbody reference, Vector3 angVel) => angVel - reference.GetAngularVelocity();
	public static Vector3 FromRelAngVel(this OWRigidbody reference, Vector3 relAngVel) => relAngVel + reference.GetAngularVelocity();
}