/// <summary>
/// Quaternions are added.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <returns>The sum of both quaternions.</returns>
#region public static JQuaternion Add(JQuaternion quaternion1, JQuaternion quaternion2)
public static JQuaternion Add(JQuaternion quaternion1, JQuaternion quaternion2)
{
JQuaternion result;
JQuaternion.Add(ref quaternion1, ref quaternion2, out result);
return(result);
}
/// <summary>
/// Creates a JMatrix representing an orientation from a quaternion.
/// </summary>
/// <param name="quaternion">The quaternion the matrix should be created from.</param>
/// <returns>JMatrix representing an orientation.</returns>
#region public static JMatrix CreateFromQuaternion(JQuaternion quaternion)
public static JMatrix CreateFromQuaternion(JQuaternion quaternion)
{
JMatrix result;
JMatrix.CreateFromQuaternion(ref quaternion, out result);
return(result);
}
/// <summary>
/// Add two quaternions.
/// </summary>
/// <param name="value1">The first quaternion.</param>
/// <param name="value2">The second quaternion.</param>
/// <returns>The sum of both quaternions.</returns>
#region public static float operator +(JQuaternion value1, JQuaternion value2)
public static JQuaternion operator +(JQuaternion value1, JQuaternion value2)
{
JQuaternion result;
JQuaternion.Add(ref value1, ref value2, out result);
return(result);
}
/// <summary>
/// Subtract two quaternions.
/// </summary>
/// <param name="value1">The first quaternion.</param>
/// <param name="value2">The second quaternion.</param>
/// <returns>The difference of both quaternions.</returns>
#region public static float operator -(JQuaternion value1, JQuaternion value2)
public static JQuaternion operator -(JQuaternion value1, JQuaternion value2)
{
JQuaternion result;
JQuaternion.Subtract(ref value1, ref value2, out result);
return(result);
}
/// <summary>
/// Creates a quaternion from a matrix.
/// </summary>
/// <param name="matrix">A matrix representing an orientation.</param>
/// <returns>JQuaternion representing an orientation.</returns>
#region public static JQuaternion CreateFromMatrix(JMatrix matrix)
public static JQuaternion CreateFromMatrix(JMatrix matrix)
{
JQuaternion result;
JQuaternion.CreateFromMatrix(ref matrix, out result);
return(result);
}
/// <summary>
/// Multiply two quaternions.
/// </summary>
/// <param name="value1">The first quaternion.</param>
/// <param name="value2">The second quaternion.</param>
/// <returns>The product of both quaternions.</returns>
#region public static float operator *(JQuaternion value1, JQuaternion value2)
public static JQuaternion operator *(JQuaternion value1, JQuaternion value2)
{
JQuaternion result;
JQuaternion.Multiply(ref value1, ref value2, out result);
return(result);
}
/// <summary>
/// Scale a quaternion
/// </summary>
/// <param name="quaternion1">The quaternion to scale.</param>
/// <param name="scaleFactor">Scale factor.</param>
/// <returns>The scaled quaternion.</returns>
#region public static JQuaternion Multiply(JQuaternion quaternion1, float scaleFactor)
public static JQuaternion Multiply(JQuaternion quaternion1, float scaleFactor)
{
JQuaternion result;
JQuaternion.Multiply(ref quaternion1, scaleFactor, out result);
return(result);
}
/// <summary>
/// Scale a quaternion
/// </summary>
/// <param name="quaternion1">The quaternion to scale.</param>
/// <param name="scaleFactor">Scale factor.</param>
/// <param name="result">The scaled quaternion.</param>
public static void Multiply(ref JQuaternion quaternion1, float scaleFactor, out JQuaternion result)
{
result.X = quaternion1.X * scaleFactor;
result.Y = quaternion1.Y * scaleFactor;
result.Z = quaternion1.Z * scaleFactor;
result.W = quaternion1.W * scaleFactor;
}
/// <summary>
/// Multiply two quaternions.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <returns>The product of both quaternions.</returns>
#region public static JQuaternion Multiply(JQuaternion quaternion1, JQuaternion quaternion2)
public static JQuaternion Multiply(JQuaternion quaternion1, JQuaternion quaternion2)
{
JQuaternion result;
JQuaternion.Multiply(ref quaternion1, ref quaternion2, out result);
return(result);
}
/// <summary>
/// Quaternions are subtracted.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <param name="result">The difference of both quaternions.</param>
public static void Subtract(ref JQuaternion quaternion1, ref JQuaternion quaternion2, out JQuaternion result)
{
result.X = quaternion1.X - quaternion2.X;
result.Y = quaternion1.Y - quaternion2.Y;
result.Z = quaternion1.Z - quaternion2.Z;
result.W = quaternion1.W - quaternion2.W;
}
/// <summary>
/// Quaternions are subtracted.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <returns>The difference of both quaternions.</returns>
#region public static JQuaternion Subtract(JQuaternion quaternion1, JQuaternion quaternion2)
public static JQuaternion Subtract(JQuaternion quaternion1, JQuaternion quaternion2)
{
JQuaternion result;
JQuaternion.Subtract(ref quaternion1, ref quaternion2, out result);
return(result);
}
/// <summary>
/// Quaternions are added.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <param name="result">The sum of both quaternions.</param>
public static void Add(ref JQuaternion quaternion1, ref JQuaternion quaternion2, out JQuaternion result)
{
result.X = quaternion1.X + quaternion2.X;
result.Y = quaternion1.Y + quaternion2.Y;
result.Z = quaternion1.Z + quaternion2.Z;
result.W = quaternion1.W + quaternion2.W;
}
public static JMatrix CreateFromYawPitchRoll(float yaw, float pitch, float roll)
{
JMatrix matrix;
JQuaternion quaternion;
JQuaternion.CreateFromYawPitchRoll(yaw, pitch, roll, out quaternion);
CreateFromQuaternion(ref quaternion, out matrix);
return(matrix);
}
public static JQuaternion Conjugate(JQuaternion value)
{
JQuaternion quaternion;
quaternion.X = -value.X;
quaternion.Y = -value.Y;
quaternion.Z = -value.Z;
quaternion.W = value.W;
return(quaternion);
}
public static void CreateFromYawPitchRoll(float yaw, float pitch, float roll, out JQuaternion result)
{
float num9 = roll * 0.5f;
float num6 = (float)Math.Sin((double)num9);
float num5 = (float)Math.Cos((double)num9);
float num8 = pitch * 0.5f;
float num4 = (float)Math.Sin((double)num8);
float num3 = (float)Math.Cos((double)num8);
float num7 = yaw * 0.5f;
float num2 = (float)Math.Sin((double)num7);
float num = (float)Math.Cos((double)num7);
result.X = ((num * num4) * num5) + ((num2 * num3) * num6);
result.Y = ((num2 * num3) * num5) - ((num * num4) * num6);
result.Z = ((num * num3) * num6) - ((num2 * num4) * num5);
result.W = ((num * num3) * num5) + ((num2 * num4) * num6);
}
/// <summary>
/// Multiply two quaternions.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <param name="result">The product of both quaternions.</param>
public static void Multiply(ref JQuaternion quaternion1, ref JQuaternion quaternion2, out JQuaternion result)
{
float x = quaternion1.X;
float y = quaternion1.Y;
float z = quaternion1.Z;
float w = quaternion1.W;
float num4 = quaternion2.X;
float num3 = quaternion2.Y;
float num2 = quaternion2.Z;
float num = quaternion2.W;
float num12 = (y * num2) - (z * num3);
float num11 = (z * num4) - (x * num2);
float num10 = (x * num3) - (y * num4);
float num9 = ((x * num4) + (y * num3)) + (z * num2);
result.X = ((x * num) + (num4 * w)) + num12;
result.Y = ((y * num) + (num3 * w)) + num11;
result.Z = ((z * num) + (num2 * w)) + num10;
result.W = (w * num) - num9;
}
/// <summary>
/// Creates a quaternion from a matrix.
/// </summary>
/// <param name="matrix">A matrix representing an orientation.</param>
/// <param name="result">JQuaternion representing an orientation.</param>
public static void CreateFromMatrix(ref JMatrix matrix, out JQuaternion result)
{
float num8 = (matrix.M11 + matrix.M22) + matrix.M33;
if (num8 > 0f)
{
float num = (float)Math.Sqrt((double)(num8 + 1f));
result.W = num * 0.5f;
num = 0.5f / num;
result.X = (matrix.M23 - matrix.M32) * num;
result.Y = (matrix.M31 - matrix.M13) * num;
result.Z = (matrix.M12 - matrix.M21) * num;
}
else if ((matrix.M11 >= matrix.M22) && (matrix.M11 >= matrix.M33))
{
float num7 = (float)Math.Sqrt((double)(((1f + matrix.M11) - matrix.M22) - matrix.M33));
float num4 = 0.5f / num7;
result.X = 0.5f * num7;
result.Y = (matrix.M12 + matrix.M21) * num4;
result.Z = (matrix.M13 + matrix.M31) * num4;
result.W = (matrix.M23 - matrix.M32) * num4;
}
else if (matrix.M22 > matrix.M33)
{
float num6 = (float)Math.Sqrt((double)(((1f + matrix.M22) - matrix.M11) - matrix.M33));
float num3 = 0.5f / num6;
result.X = (matrix.M21 + matrix.M12) * num3;
result.Y = 0.5f * num6;
result.Z = (matrix.M32 + matrix.M23) * num3;
result.W = (matrix.M31 - matrix.M13) * num3;
}
else
{
float num5 = (float)Math.Sqrt((double)(((1f + matrix.M33) - matrix.M11) - matrix.M22));
float num2 = 0.5f / num5;
result.X = (matrix.M31 + matrix.M13) * num2;
result.Y = (matrix.M32 + matrix.M23) * num2;
result.Z = 0.5f * num5;
result.W = (matrix.M12 - matrix.M21) * num2;
}
}
/// <summary>
/// Creates a JMatrix representing an orientation from a quaternion.
/// </summary>
/// <param name="quaternion">The quaternion the matrix should be created from.</param>
/// <param name="result">JMatrix representing an orientation.</param>
public static void CreateFromQuaternion(ref JQuaternion quaternion, out JMatrix result)
{
float num9 = quaternion.X * quaternion.X;
float num8 = quaternion.Y * quaternion.Y;
float num7 = quaternion.Z * quaternion.Z;
float num6 = quaternion.X * quaternion.Y;
float num5 = quaternion.Z * quaternion.W;
float num4 = quaternion.Z * quaternion.X;
float num3 = quaternion.Y * quaternion.W;
float num2 = quaternion.Y * quaternion.Z;
float num = quaternion.X * quaternion.W;
result.M11 = 1f - (2f * (num8 + num7));
result.M12 = 2f * (num6 + num5);
result.M13 = 2f * (num4 - num3);
result.M21 = 2f * (num6 - num5);
result.M22 = 1f - (2f * (num7 + num9));
result.M23 = 2f * (num2 + num);
result.M31 = 2f * (num4 + num3);
result.M32 = 2f * (num2 - num);
result.M33 = 1f - (2f * (num8 + num9));
}
/// <summary>
/// Quaternions are added.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <param name="result">The sum of both quaternions.</param>
public static void Add(ref JQuaternion quaternion1, ref JQuaternion quaternion2, out JQuaternion result)
{
result.X = quaternion1.X + quaternion2.X;
result.Y = quaternion1.Y + quaternion2.Y;
result.Z = quaternion1.Z + quaternion2.Z;
result.W = quaternion1.W + quaternion2.W;
}
/// <summary>
/// Multiply two quaternions.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <returns>The product of both quaternions.</returns>
#region public static JQuaternion Multiply(JQuaternion quaternion1, JQuaternion quaternion2)
public static JQuaternion Multiply(JQuaternion quaternion1, JQuaternion quaternion2)
{
Multiply(ref quaternion1, ref quaternion2, out var result);
return(result);
}
/// <summary>
/// Quaternions are subtracted.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <returns>The difference of both quaternions.</returns>
#region public static JQuaternion Subtract(JQuaternion quaternion1, JQuaternion quaternion2)
public static JQuaternion Subtract(JQuaternion quaternion1, JQuaternion quaternion2)
{
Subtract(ref quaternion1, ref quaternion2, out var result);
return(result);
}
public static JMatrix CreateFromYawPitchRoll(float yaw, float pitch, float roll)
{
JQuaternion.CreateFromYawPitchRoll(yaw, pitch, roll, out var quaternion);
CreateFromQuaternion(quaternion, out var matrix);
return(matrix);
}
/// <summary>
/// Creates a JMatrix representing an orientation from a quaternion.
/// </summary>
/// <param name="quaternion">The quaternion the matrix should be created from.</param>
/// <returns>JMatrix representing an orientation.</returns>
#region public static JMatrix CreateFromQuaternion(JQuaternion quaternion)
public static JMatrix CreateFromQuaternion(JQuaternion quaternion)
{
CreateFromQuaternion(ref quaternion, out var result);
return(result);
}
/// <summary>
/// Quaternions are added.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <returns>The sum of both quaternions.</returns>
#region public static JQuaternion Add(JQuaternion quaternion1, JQuaternion quaternion2)
public static JQuaternion Add(JQuaternion quaternion1, JQuaternion quaternion2)
{
JQuaternion result;
JQuaternion.Add(ref quaternion1, ref quaternion2, out result);
return result;
}
/// <summary>
/// Creates a quaternion from a matrix.
/// </summary>
/// <param name="matrix">A matrix representing an orientation.</param>
/// <param name="result">JQuaternion representing an orientation.</param>
public static void CreateFromMatrix(ref JMatrix matrix, out JQuaternion result)
{
float num8 = (matrix.M11 + matrix.M22) + matrix.M33;
if (num8 > 0f)
{
float num = (float)Math.Sqrt((double)(num8 + 1f));
result.W = num * 0.5f;
num = 0.5f / num;
result.X = (matrix.M23 - matrix.M32) * num;
result.Y = (matrix.M31 - matrix.M13) * num;
result.Z = (matrix.M12 - matrix.M21) * num;
}
else if ((matrix.M11 >= matrix.M22) && (matrix.M11 >= matrix.M33))
{
float num7 = (float)Math.Sqrt((double)(((1f + matrix.M11) - matrix.M22) - matrix.M33));
float num4 = 0.5f / num7;
result.X = 0.5f * num7;
result.Y = (matrix.M12 + matrix.M21) * num4;
result.Z = (matrix.M13 + matrix.M31) * num4;
result.W = (matrix.M23 - matrix.M32) * num4;
}
else if (matrix.M22 > matrix.M33)
{
float num6 = (float)Math.Sqrt((double)(((1f + matrix.M22) - matrix.M11) - matrix.M33));
float num3 = 0.5f / num6;
result.X = (matrix.M21 + matrix.M12) * num3;
result.Y = 0.5f * num6;
result.Z = (matrix.M32 + matrix.M23) * num3;
result.W = (matrix.M31 - matrix.M13) * num3;
}
else
{
float num5 = (float)Math.Sqrt((double)(((1f + matrix.M33) - matrix.M11) - matrix.M22));
float num2 = 0.5f / num5;
result.X = (matrix.M31 + matrix.M13) * num2;
result.Y = (matrix.M32 + matrix.M23) * num2;
result.Z = 0.5f * num5;
result.W = (matrix.M12 - matrix.M21) * num2;
}
}
/// <summary>
/// Scale a quaternion
/// </summary>
/// <param name="quaternion1">The quaternion to scale.</param>
/// <param name="scaleFactor">Scale factor.</param>
/// <param name="result">The scaled quaternion.</param>
public static void Multiply(ref JQuaternion quaternion1, float scaleFactor, out JQuaternion result)
{
result.X = quaternion1.X * scaleFactor;
result.Y = quaternion1.Y * scaleFactor;
result.Z = quaternion1.Z * scaleFactor;
result.W = quaternion1.W * scaleFactor;
}
/// <summary>
/// Scale a quaternion
/// </summary>
/// <param name="quaternion1">The quaternion to scale.</param>
/// <param name="scaleFactor">Scale factor.</param>
/// <returns>The scaled quaternion.</returns>
#region public static JQuaternion Multiply(JQuaternion quaternion1, float scaleFactor)
public static JQuaternion Multiply(JQuaternion quaternion1, float scaleFactor)
{
JQuaternion result;
JQuaternion.Multiply(ref quaternion1, scaleFactor, out result);
return result;
}
/// <summary>
/// Multiply two quaternions.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <param name="result">The product of both quaternions.</param>
public static void Multiply(ref JQuaternion quaternion1, ref JQuaternion quaternion2, out JQuaternion result)
{
float x = quaternion1.X;
float y = quaternion1.Y;
float z = quaternion1.Z;
float w = quaternion1.W;
float num4 = quaternion2.X;
float num3 = quaternion2.Y;
float num2 = quaternion2.Z;
float num = quaternion2.W;
float num12 = (y * num2) - (z * num3);
float num11 = (z * num4) - (x * num2);
float num10 = (x * num3) - (y * num4);
float num9 = ((x * num4) + (y * num3)) + (z * num2);
result.X = ((x * num) + (num4 * w)) + num12;
result.Y = ((y * num) + (num3 * w)) + num11;
result.Z = ((z * num) + (num2 * w)) + num10;
result.W = (w * num) - num9;
}
/// <summary>
/// Creates a JMatrix representing an orientation from a quaternion.
/// </summary>
/// <param name="quaternion">The quaternion the matrix should be created from.</param>
/// <param name="result">JMatrix representing an orientation.</param>
public static void CreateFromQuaternion(ref JQuaternion quaternion, out JMatrix result)
{
double num9 = quaternion.X * quaternion.X;
double num8 = quaternion.Y * quaternion.Y;
double num7 = quaternion.Z * quaternion.Z;
double num6 = quaternion.X * quaternion.Y;
double num5 = quaternion.Z * quaternion.W;
double num4 = quaternion.Z * quaternion.X;
double num3 = quaternion.Y * quaternion.W;
double num2 = quaternion.Y * quaternion.Z;
double num = quaternion.X * quaternion.W;
result.M11 = 1f - (2f * (num8 + num7));
result.M12 = 2f * (num6 + num5);
result.M13 = 2f * (num4 - num3);
result.M21 = 2f * (num6 - num5);
result.M22 = 1f - (2f * (num7 + num9));
result.M23 = 2f * (num2 + num);
result.M31 = 2f * (num4 + num3);
result.M32 = 2f * (num2 - num);
result.M33 = 1f - (2f * (num8 + num9));
}
public static void CreateFromYawPitchRoll(float yaw, float pitch, float roll, out JQuaternion result)
{
float num9 = roll * 0.5f;
float num6 = (float)Math.Sin((double)num9);
float num5 = (float)Math.Cos((double)num9);
float num8 = pitch * 0.5f;
float num4 = (float)Math.Sin((double)num8);
float num3 = (float)Math.Cos((double)num8);
float num7 = yaw * 0.5f;
float num2 = (float)Math.Sin((double)num7);
float num = (float)Math.Cos((double)num7);
result.X = ((num * num4) * num5) + ((num2 * num3) * num6);
result.Y = ((num2 * num3) * num5) - ((num * num4) * num6);
result.Z = ((num * num3) * num6) - ((num2 * num4) * num5);
result.W = ((num * num3) * num5) + ((num2 * num4) * num6);
}
/// <summary>
/// Quaternions are added.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <returns>The sum of both quaternions.</returns>
#region public static JQuaternion Add(JQuaternion quaternion1, JQuaternion quaternion2)
public static JQuaternion Add(JQuaternion quaternion1, JQuaternion quaternion2)
{
Add(ref quaternion1, ref quaternion2, out var result);
return(result);
}
public static JQuaternion Conjugate(JQuaternion value)
{
JQuaternion quaternion;
quaternion.X = -value.X;
quaternion.Y = -value.Y;
quaternion.Z = -value.Z;
quaternion.W = value.W;
return quaternion;
}
public static JMatrix CreateFromQuaternion(JQuaternion quaternion)
{
JMatrix result;
JMatrix.CreateFromQuaternion(ref quaternion,out result);
return result;
}
/// <summary>
/// Quaternions are subtracted.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <returns>The difference of both quaternions.</returns>
#region public static JQuaternion Subtract(JQuaternion quaternion1, JQuaternion quaternion2)
public static JQuaternion Subtract(JQuaternion quaternion1, JQuaternion quaternion2)
{
JQuaternion result;
JQuaternion.Subtract(ref quaternion1, ref quaternion2, out result);
return result;
}
private void IntegrateCallback(object obj)
{
RigidBody body = obj as RigidBody;
JVector temp;
JVector.Multiply(ref body.linearVelocity, timestep, out temp);
JVector.Add(ref temp, ref body.position, out body.position);
if (!(body.isParticle))
{
//exponential map
JVector axis;
float angle = body.angularVelocity.Length();
if (angle < 0.001f)
{
// use Taylor's expansions of sync function
// axis = body.angularVelocity * (0.5f * timestep - (timestep * timestep * timestep) * (0.020833333333f) * angle * angle);
JVector.Multiply(ref body.angularVelocity, (0.5f * timestep - (timestep * timestep * timestep) * (0.020833333333f) * angle * angle), out axis);
}
else
{
// sync(fAngle) = sin(c*fAngle)/t
JVector.Multiply(ref body.angularVelocity, ((float)Math.Sin(0.5f * angle * timestep) / angle), out axis);
}
JQuaternion dorn = new JQuaternion(axis.X, axis.Y, axis.Z, (float)Math.Cos(angle * timestep * 0.5f));
JQuaternion ornA; JQuaternion.CreateFromMatrix(ref body.orientation, out ornA);
JQuaternion.Multiply(ref dorn, ref ornA, out dorn);
dorn.Normalize(); JMatrix.CreateFromQuaternion(ref dorn, out body.orientation);
}
if ((body.Damping & RigidBody.DampingType.Linear) != 0)
JVector.Multiply(ref body.linearVelocity, currentLinearDampFactor, out body.linearVelocity);
if ((body.Damping & RigidBody.DampingType.Angular) != 0)
JVector.Multiply(ref body.angularVelocity, currentAngularDampFactor, out body.angularVelocity);
body.Update();
if (CollisionSystem.EnableSpeculativeContacts || body.EnableSpeculativeContacts)
body.SweptExpandBoundingBox(timestep);
}
/// <summary>
/// Quaternions are subtracted.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <param name="result">The difference of both quaternions.</param>
public static void Subtract(ref JQuaternion quaternion1, ref JQuaternion quaternion2, out JQuaternion result)
{
result.X = quaternion1.X - quaternion2.X;
result.Y = quaternion1.Y - quaternion2.Y;
result.Z = quaternion1.Z - quaternion2.Z;
result.W = quaternion1.W - quaternion2.W;
}
/// <summary>
/// Multiply two quaternions.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <returns>The product of both quaternions.</returns>
#region public static JQuaternion Multiply(JQuaternion quaternion1, JQuaternion quaternion2)
public static JQuaternion Multiply(JQuaternion quaternion1, JQuaternion quaternion2)
{
JQuaternion result;
JQuaternion.Multiply(ref quaternion1, ref quaternion2, out result);
return result;
}
public void RestoreState(BinaryReader reader)
{
Body.Position = new JVector(reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle());
var q = new JQuaternion(reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle());
Body.Orientation = JMatrix.CreateFromQuaternion(q);
if (Body.IsStatic) return;
Body.LinearVelocity = new JVector(reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle());
Body.AngularVelocity = new JVector(reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle());
}