pointToLocalFrame static method

Vector3 pointToLocalFrame(
  1. Vector3 position,
  2. Quaternion quaternion,
  3. Vector3 worldPoint, [
  4. Vector3? result,
])

Implementation

static Vector3 pointToLocalFrame(Vector3 position,Quaternion quaternion,Vector3 worldPoint, [Vector3? result]) {
  result ??= Vector3.zero();
  worldPoint.sub2(position, result);
  final tmpQuat = Quaternion.copy(quaternion);
  tmpQuat.conjugate();
  tmpQuat.vmult(result, result);
  return result;
}