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Moving parent mesh over 2 pivot points


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I'm trying to create a kind of strategy game.

I have model units assigned to the parent model. I created 2 additional models as manipulators to rotate the whole unit.

I want to rotate the unit depending on the captured manipulator around the right or left corner.
After rotating the unit around one corner, when I try to change the pivot point (setPivotMatrix), the whole unit is moved. How to solve this problem?

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