public Matrix3f(Matrix3f rm)
{
for (int i = 0; i < 9; i++)
{
m_elements[i] = rm.getElement(i);
}
}
public void SetRotation(GK.Matrix3f Orientation)
{
float sy = Mathf.Sqrt(Orientation.getElement(0, 0) * Orientation.getElement(0, 0) + Orientation.getElement(1, 0) * Orientation.getElement(1, 0));
bool singular = sy < 1e-6; // If
float x, y, z;
if (!singular)
{
x = Mathf.Atan2(Orientation.getElement(2, 1), Orientation.getElement(2, 2));
y = Mathf.Atan2(-Orientation.getElement(2, 0), sy);
z = Mathf.Atan2(Orientation.getElement(1, 0), Orientation.getElement(0, 0));
}
else
{
x = Mathf.Atan2(-Orientation.getElement(1, 2), Orientation.getElement(1, 1));
y = Mathf.Atan2(-Orientation.getElement(2, 0), sy);
z = 0;
}
Debug.Log("euler" + new Vector3(x, y, z));
transform.Rotate(new Vector3(x, y, z));
}
// returns diagonal of InertiaTensorMatrix
public Vector3 GetInertiaTensor()
{
return(new Vector3(BodyInertiaInverseTensor.getElement(0, 0), BodyInertiaInverseTensor.getElement(1, 1), BodyInertiaInverseTensor.getElement(2, 2)));
}
