private void LimitRotation(float timestep)
{
btQuaternion rot = m_body.getWorldTransform().getRotation();
bool changed = false;
if (m_RollreferenceFrame != Quaternion.Identity)
{
if (rot.getX() >= m_RollreferenceFrame.X)
{
rot = new btQuaternion(rot.getX() - (m_RollreferenceFrame.X / 2), rot.getY(), rot.getZ(), rot.getW());
}
if (rot.getX() <= -m_RollreferenceFrame.X)
{
rot = new btQuaternion(rot.getX() + (m_RollreferenceFrame.X / 2), rot.getY(), rot.getZ(), rot.getW());
}
if (rot.getY() >= m_RollreferenceFrame.Y)
{
rot = new btQuaternion(rot.getX(), rot.getY() - (m_RollreferenceFrame.Y / 2), rot.getZ(), rot.getW());
}
if (rot.getY() <= -m_RollreferenceFrame.Y)
{
rot = new btQuaternion(rot.getX(), rot.getY() + (m_RollreferenceFrame.Y / 2), rot.getZ(), rot.getW());
}
changed = true;
}
if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0)
{
rot = new btQuaternion(0, 0, rot.getZ(), rot.getW());
changed = true;
}
if (changed)
{
btTransform trans = m_body.getWorldTransform();
trans.setRotation(rot);
m_body.setWorldTransform(trans);
}
}