pointToLocalFrame method

Vector3 pointToLocalFrame(
  1. Vector3 worldPoint,
  2. Vector3? result
)

Convert a world point to local body frame.

Implementation

Vector3 pointToLocalFrame(Vector3 worldPoint,Vector3? result){
  result ??= Vector3.zero();
  worldPoint.sub2(position, result);
  quaternion..conjugate()..vmult(result, result);
  return result;
}