Rotating force around pivot point

Unity Engine
, , ,
1

So i have been working on this issue for a while and I’m just stuck. I have 2 objects at (0,0,0) except they are rotated at different degrees.

If I have ObjectA that has a Euler rotation of (0,0,0) and ObjectB has a Euler rotation of (0,90,0) then I use this code to get a relative force on B to be enacted on ObjectA

public static float3 RotateAround(float3 position, float3 pivotPoint, quaternion rot)
{
    return math.mul(rot, (position - pivotPoint)) + pivotPoint;
}

/// <summary>
/// Rotates a transform around the given Pivot point by the given rotation.
/// </summary>
/// <param name="transform"></param>
/// <param name="pivotPoint"></param>
/// <param name="rot"></param>
/// <returns></returns>
public static LocalToWorld RotateAround(LocalToWorld transform, float3 pivotPoint, quaternion rot)
{
    return new LocalToWorld
    {
        Value = new float4x4(math.mul(rot, transform.Rotation),
            math.mul(rot, (transform.Position - pivotPoint)) + pivotPoint
        )
    };
}

/// <summary>
/// Rotates a transform around the given Pivot point by the given angle on the given axis.
/// </summary>
/// <param name="transform"></param>
/// <param name="pivotPoint"></param>
/// <param name="axis"></param>
/// <param name="angle"></param>
public static void RotateAround(Transform transform, Vector3 pivotPoint, Vector3 axis, float angle)
{
    Quaternion rot = Quaternion.AngleAxis(angle, axis);
    transform.position = rot * (transform.position - pivotPoint) + pivotPoint;
    transform.rotation = rot * transform.rotation;
}

/// <summary>
/// Rotates a transform around the given Pivot point by the given angle on the given axis.
/// </summary>
/// <param name="transform"></param>
/// <param name="pivotPoint"></param>
/// <param name="axis"></param>
/// <param name="angle"></param>
/// <returns></returns>
public static LocalToWorld RotateAround(LocalToWorld transform, float3 pivotPoint, float3 axis, float angle)
{
    quaternion rot = quaternion.AxisAngle(axis, angle);
    return new LocalToWorld
    {
        Value = new float4x4(
            math.mul(rot, transform.Rotation),
            math.mul(rot, (transform.Position - pivotPoint)) + pivotPoint)
    };
}

//NOTE ObjectB has a float3 position and a quaternion rotation

float3 m_lastCalculatedForce = (ObjectB.position - ObjectB_oldPosition);

float forceMagnitude = Unity.Mathematics.math.length(p.m_lastCalculatedForce);
float3 unitForceVector = p.m_lastCalculatedForce / forceMagnitude;
float3 newVector = TransformsExtensions.RotateAround(unitForceVector, float3.zero, math.inverse(ObjectB.rotation));

Debug.Log(p.m_lastCalculatedForce + "::" + forceMagnitude + "\n" +
    "::" + unitForceVector + ":::" + math.length(unitForceVector) + "\n"
    + newVector + ":::" + math.length(newVector));

p.m_lastCalculatedForce = newVector * forceMagnitude;

This works only on the Y axis. the X and X rotation axis somehow messes everything up.
Meaning i ObjectB is (90,0,0) and thie code runs then the force is in the wrong direction.

Any ideas?

2

I figured it our however another problem arose. here is the code i used if anyone is interested

 public static Vector3 RotateDirectionVector(Vector3 direction, Vector3 rotation)
        {
            direction.Normalize();
            Quaternion rot = Quaternion.Euler(rotation); // Rotate [angle] degrees about the x axis.
            direction = rot * direction;
            return direction;
        }