/// <summary>
/// Every frame, angular velocity is wiped out and recalculated based on angular momentum. So this function actually
/// sets angular momentum to produce the velocity passed in.
/// </summary>
/// <remarks>
/// This function is the opposite of the calculation in ApplyTorque
/// </remarks>
public void SetAngularVelocity(MyVector angularVelocity)
{
// Figure out the world frame's inertia tensor
// (Rotation * bodyInertialTensorInverse * Transposed Rotation)
MyMatrix3 curRotation = base.RotationMatrix.Clone();
MyMatrix3 worldInertiaTensor = MyMatrix3.Multiply(MyMatrix3.Multiply(curRotation, _inertialTensorBody), MyMatrix3.Transpose(curRotation));
// Now store the angular momentum required to generate this velocity
_angularMomentum.StoreNewValues(MyMatrix3.Multiply(worldInertiaTensor, angularVelocity));
}
private void ApplyTorque(double elapsedTime)
{
// Calculate the new angular momentum (current + (torque * time))
MyVector newMomentum = _internalTorque.Clone();
newMomentum.Multiply(elapsedTime);
_angularMomentum.Add(newMomentum);
// Figure out the inverse of the world frame's inertia tensor
// (Rotation * bodyInertialTensorInverse * Transposed Rotation)
MyMatrix3 curRotation = base.RotationMatrix.Clone();
MyMatrix3 inverseWorldInertiaTensor = MyMatrix3.Multiply(MyMatrix3.Multiply(curRotation, _inertialTensorBodyInverse), MyMatrix3.Transpose(curRotation));
// Now all that's left is to figure out the new angular velocity
_angularVelocity.StoreNewValues(MyMatrix3.Multiply(inverseWorldInertiaTensor, _angularMomentum));
}