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Question by KAW0 · May 21, 2021 at 04:23 PM · transformvector3matrix4x4localspace

How to translate World <->Local position without Transform component with Matrix4x4?

I have to calculate global position with local coordinates without using the transform component. My code:

 using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 using UnityEngine;
 
 public class VirtualTransform
 {
     public Vector3 LocalPosition;
     public Vector3 LocalScale;
     public Quaternion LocalRotation;
 
     public VirtualTransform Parent;
 
     public VirtualTransform(Vector3 localPosition, Vector3 localScale, Quaternion localRotation)
     {
         LocalPosition = localPosition;
         LocalScale = localScale;
         LocalRotation = localRotation;
     }
 
     public VirtualTransform(Vector3 localPosition, Vector3 localScale, Quaternion localRotation, VirtualTransform parent)
     {
         LocalPosition = localPosition;
         LocalScale = localScale;
         LocalRotation = localRotation;
         Parent = parent;
     }
 
     public Matrix4x4 Matrix
     {
         get
         {
             var matrix = Matrix4x4.TRS(LocalPosition, LocalRotation, LocalScale);
             if (Parent != null)
             {
                 return matrix * Parent.Matrix;
             }
             return matrix;
         }
     }
     public Vector3 GlobalPos
     {
         get
         {
             return PosFromMatrix(Matrix);
         }
     }
 
     static Vector3 PosFromMatrix(Matrix4x4 matrix)
     {
         var pos = matrix.GetColumn(3);
         return new Vector3(pos.x, pos.y, pos.z);
     }
 }
 

Tested with:

 var obj1 = new VirtualTransform(new Vector3(2, 2, 0), new Vector3(1, 3, 1), Quaternion.Euler(0, 0, 90));
 var obj2 = new VirtualTransform(new Vector3(5, 5, 0), new Vector3(1, 0.5f, 1), Quaternion.Euler(0, 0, 45), obj1);
 var obj3 = new VirtualTransform(new Vector3(3, 3, 0), new Vector3(1, 1f, 1), Quaternion.Euler(0, 0, 50), obj2);
 Debug.Log(obj3.Matrix.lossyScale);


Result: (0.5, 3.0, 1.0)

Expected result: (2.151782, 0.6361648, 1)

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