// Local space means "parameter space".
F32 LLPhysicsMotion::toLocal(const LLVector3 &world)
{
LLJoint *joint = mJointState->getJoint();
const LLQuaternion rotation_world = joint->getWorldRotation();
LLVector3 dir_world = mMotionDirectionVec * rotation_world;
dir_world.normalize();
return world * dir_world;
}
F32 LLPhysicsMotion::calculateVelocity_local()
{
const F32 world_to_model_scale = 100.0f;
LLJoint *joint = mJointState->getJoint();
const LLVector3 position_world = joint->getWorldPosition();
const LLQuaternion rotation_world = joint->getWorldRotation();
const LLVector3 last_position_world = mPosition_world;
const LLVector3 positionchange_world = (position_world-last_position_world) * world_to_model_scale;
const LLVector3 velocity_world = positionchange_world;
const F32 velocity_local = toLocal(velocity_world);
return velocity_local;
}