Local Space to Global Space

gistfile1.lua

-- I have cube whose origin is in the center of the cube.
-- I want to place a joint on the end face of the cube, the +Z end.
-- --------------
-- |            |
-- |            |<--- Joint here
-- |            |
-- --------------
--
-- I know that the width of the box is boxLength, so the localspace coordinate that gives me the
-- end of the box is 0, 0, boxLength * 0.5 (remember that the origin is in the center)

-- So now I can get the global space coordinates where that joint should go.
local fx, fy, fz = object.transformPoint ( hPrev, 0, 0, boxLength * 0.5, object.kLocalSpace, object.kGlobalSpace )

-- Now I have a 2nd object that I want to connect to this joint. I already have the global space coordinates and now
-- I need the local space coordinates for this other object
local otherX, otherY, otherZ = object.transformPoint ( hOtherObject, fx, fy, fz, object.kGlobalSpace, object.kLocalSpace )
local scaleX, scaleY, scaleZ = object.getScale ( hOtherObject )

-- Now that I have the local space coordinates, I can create the joint. I need to apply the scale of the object to
-- the local space coordinates. (The first object is not scaled btw).
SmanPX.createJoint ( hPrev, hOtherObject, 0, 0, boxLength * 0.5, otherX * scaleX, otherY * scaleY, otherZ * scaleZ, SmanPX.kJointTypeSpherical )