public static TSQuaternion Slerp(TSQuaternion from, TSQuaternion to, FP t)
{
t = TSMath.Clamp(t, 0, 1);
//t = 0.5f;
//if (t == 0)
// return from;
FP dot = Dot(from, to);
if (dot < 0.0f)
{
to = Multiply(to, -1);
dot = -dot;
}
if (dot >= FP.NearOne)
{
// If the inputs are too close for comfort, linearly interpolate
// and normalize the result.
TSQuaternion result = Lerp(from, to, t);
return(result);
}
FP halfTheta = FP.Acos(dot);
//UnityEngine.Debug.LogWarning("halfTheta:"+ halfTheta+" dot:"+dot+ " FP.Sin(halfTheta):"+ FP.Sin(halfTheta));
return(Multiply(Multiply(from, FP.Sin((1 - t) * halfTheta)) + Multiply(to, FP.Sin(t * halfTheta)), 1 / FP.Sin(halfTheta)));
}
// The smaller of the two possible angles between the two vectors is returned, therefore the result will never be greater than 180 degrees or smaller than -180 degrees.
// If you imagine the from and to vectors as lines on a piece of paper, both originating from the same point, then the /axis/ vector would point up out of the paper.
// The measured angle between the two vectors would be positive in a clockwise direction and negative in an anti-clockwise direction.
public static FP SignedAngle(TSVector from, TSVector to, TSVector axis)
{
TSVector fromNorm = from.normalized, toNorm = to.normalized;
FP unsignedAngle = TSMath.Acos(TSMath.Clamp(Dot(fromNorm, toNorm), -FP.ONE, FP.ONE)) * TSMath.Rad2Deg;
FP sign = TSMath.Sign(Dot(axis, Cross(fromNorm, toNorm)));
return(unsignedAngle * sign);
}
public static TSVector2 Lerp(TSVector2 value1, TSVector2 value2, FP amount)
{
amount = TSMath.Clamp(amount, 0, 1);
return(new TSVector2(
TSMath.Lerp(value1.x, value2.x, amount),
TSMath.Lerp(value1.y, value2.y, amount)));
}
public static TSQuaternion Slerp(TSQuaternion from, TSQuaternion to, FP t)
{
t = TSMath.Clamp(t, 0, 1);
FP dot = Dot(from, to);
if (dot < 0.0f)
{
to = Multiply(to, -1);
dot = -dot;
}
FP halfTheta = FP.Acos(dot);
return(Multiply(Multiply(from, FP.Sin((1 - t) * halfTheta)) + Multiply(to, FP.Sin(t * halfTheta)), 1 / FP.Sin(halfTheta)));
}
// Returns the angle in degrees between /from/ and /to/. This is always the smallest
public static FP Angle(TSVector from, TSVector to)
{
return(TSMath.Acos(TSMath.Clamp(Dot(from.normalized, to.normalized), -FP.ONE, FP.ONE)) * TSMath.Rad2Deg);
}
public static void Clamp(ref TSVector2 value1, ref TSVector2 min, ref TSVector2 max, out TSVector2 result)
{
result = new TSVector2(
TSMath.Clamp(value1.x, min.x, max.x),
TSMath.Clamp(value1.y, min.y, max.y));
}
public static TSVector2 Clamp(TSVector2 value1, TSVector2 min, TSVector2 max)
{
return(new TSVector2(
TSMath.Clamp(value1.x, min.x, max.x),
TSMath.Clamp(value1.y, min.y, max.y)));
}
public static TSQuaternion Lerp(TSQuaternion a, TSQuaternion b, FP t)
{
t = TSMath.Clamp(t, FP.Zero, FP.One);
return(LerpUnclamped(a, b, t));
}
public void PrepareForIteration(FP timestep)
{
FP fP = this.body2.angularVelocity.y * this.relativePos2.z - this.body2.angularVelocity.z * this.relativePos2.y + this.body2.linearVelocity.x;
FP fP2 = this.body2.angularVelocity.z * this.relativePos2.x - this.body2.angularVelocity.x * this.relativePos2.z + this.body2.linearVelocity.y;
FP fP3 = this.body2.angularVelocity.x * this.relativePos2.y - this.body2.angularVelocity.y * this.relativePos2.x + this.body2.linearVelocity.z;
fP = fP - this.body1.angularVelocity.y * this.relativePos1.z + this.body1.angularVelocity.z * this.relativePos1.y - this.body1.linearVelocity.x;
fP2 = fP2 - this.body1.angularVelocity.z * this.relativePos1.x + this.body1.angularVelocity.x * this.relativePos1.z - this.body1.linearVelocity.y;
fP3 = fP3 - this.body1.angularVelocity.x * this.relativePos1.y + this.body1.angularVelocity.y * this.relativePos1.x - this.body1.linearVelocity.z;
FP fP4 = FP.Zero;
TSVector zero = TSVector.zero;
bool flag = !this.treatBody1AsStatic;
if (flag)
{
fP4 += this.body1.inverseMass;
bool flag2 = !this.body1IsMassPoint;
if (flag2)
{
zero.x = this.relativePos1.y * this.normal.z - this.relativePos1.z * this.normal.y;
zero.y = this.relativePos1.z * this.normal.x - this.relativePos1.x * this.normal.z;
zero.z = this.relativePos1.x * this.normal.y - this.relativePos1.y * this.normal.x;
FP x = zero.x * this.body1.invInertiaWorld.M11 + zero.y * this.body1.invInertiaWorld.M21 + zero.z * this.body1.invInertiaWorld.M31;
FP y = zero.x * this.body1.invInertiaWorld.M12 + zero.y * this.body1.invInertiaWorld.M22 + zero.z * this.body1.invInertiaWorld.M32;
FP z = zero.x * this.body1.invInertiaWorld.M13 + zero.y * this.body1.invInertiaWorld.M23 + zero.z * this.body1.invInertiaWorld.M33;
zero.x = x;
zero.y = y;
zero.z = z;
x = zero.y * this.relativePos1.z - zero.z * this.relativePos1.y;
y = zero.z * this.relativePos1.x - zero.x * this.relativePos1.z;
z = zero.x * this.relativePos1.y - zero.y * this.relativePos1.x;
zero.x = x;
zero.y = y;
zero.z = z;
}
}
TSVector zero2 = TSVector.zero;
bool flag3 = !this.treatBody2AsStatic;
if (flag3)
{
fP4 += this.body2.inverseMass;
bool flag4 = !this.body2IsMassPoint;
if (flag4)
{
zero2.x = this.relativePos2.y * this.normal.z - this.relativePos2.z * this.normal.y;
zero2.y = this.relativePos2.z * this.normal.x - this.relativePos2.x * this.normal.z;
zero2.z = this.relativePos2.x * this.normal.y - this.relativePos2.y * this.normal.x;
FP x2 = zero2.x * this.body2.invInertiaWorld.M11 + zero2.y * this.body2.invInertiaWorld.M21 + zero2.z * this.body2.invInertiaWorld.M31;
FP y2 = zero2.x * this.body2.invInertiaWorld.M12 + zero2.y * this.body2.invInertiaWorld.M22 + zero2.z * this.body2.invInertiaWorld.M32;
FP z2 = zero2.x * this.body2.invInertiaWorld.M13 + zero2.y * this.body2.invInertiaWorld.M23 + zero2.z * this.body2.invInertiaWorld.M33;
zero2.x = x2;
zero2.y = y2;
zero2.z = z2;
x2 = zero2.y * this.relativePos2.z - zero2.z * this.relativePos2.y;
y2 = zero2.z * this.relativePos2.x - zero2.x * this.relativePos2.z;
z2 = zero2.x * this.relativePos2.y - zero2.y * this.relativePos2.x;
zero2.x = x2;
zero2.y = y2;
zero2.z = z2;
}
}
bool flag5 = !this.treatBody1AsStatic;
if (flag5)
{
fP4 += zero.x * this.normal.x + zero.y * this.normal.y + zero.z * this.normal.z;
}
bool flag6 = !this.treatBody2AsStatic;
if (flag6)
{
fP4 += zero2.x * this.normal.x + zero2.y * this.normal.y + zero2.z * this.normal.z;
}
this.massNormal = FP.One / fP4;
FP fP5 = fP * this.normal.x + fP2 * this.normal.y + fP3 * this.normal.z;
this.tangent.x = fP - this.normal.x * fP5;
this.tangent.y = fP2 - this.normal.y * fP5;
this.tangent.z = fP3 - this.normal.z * fP5;
fP5 = this.tangent.x * this.tangent.x + this.tangent.y * this.tangent.y + this.tangent.z * this.tangent.z;
bool flag7 = fP5 != FP.Zero;
if (flag7)
{
fP5 = FP.Sqrt(fP5);
this.tangent.x = this.tangent.x / fP5;
this.tangent.y = this.tangent.y / fP5;
this.tangent.z = this.tangent.z / fP5;
}
FP fP6 = FP.Zero;
bool flag8 = this.treatBody1AsStatic;
if (flag8)
{
zero.MakeZero();
}
else
{
fP6 += this.body1.inverseMass;
bool flag9 = !this.body1IsMassPoint;
if (flag9)
{
zero.x = this.relativePos1.y * this.tangent.z - this.relativePos1.z * this.tangent.y;
zero.y = this.relativePos1.z * this.tangent.x - this.relativePos1.x * this.tangent.z;
zero.z = this.relativePos1.x * this.tangent.y - this.relativePos1.y * this.tangent.x;
FP x3 = zero.x * this.body1.invInertiaWorld.M11 + zero.y * this.body1.invInertiaWorld.M21 + zero.z * this.body1.invInertiaWorld.M31;
FP y3 = zero.x * this.body1.invInertiaWorld.M12 + zero.y * this.body1.invInertiaWorld.M22 + zero.z * this.body1.invInertiaWorld.M32;
FP z3 = zero.x * this.body1.invInertiaWorld.M13 + zero.y * this.body1.invInertiaWorld.M23 + zero.z * this.body1.invInertiaWorld.M33;
zero.x = x3;
zero.y = y3;
zero.z = z3;
x3 = zero.y * this.relativePos1.z - zero.z * this.relativePos1.y;
y3 = zero.z * this.relativePos1.x - zero.x * this.relativePos1.z;
z3 = zero.x * this.relativePos1.y - zero.y * this.relativePos1.x;
zero.x = x3;
zero.y = y3;
zero.z = z3;
}
}
bool flag10 = this.treatBody2AsStatic;
if (flag10)
{
zero2.MakeZero();
}
else
{
fP6 += this.body2.inverseMass;
bool flag11 = !this.body2IsMassPoint;
if (flag11)
{
zero2.x = this.relativePos2.y * this.tangent.z - this.relativePos2.z * this.tangent.y;
zero2.y = this.relativePos2.z * this.tangent.x - this.relativePos2.x * this.tangent.z;
zero2.z = this.relativePos2.x * this.tangent.y - this.relativePos2.y * this.tangent.x;
FP x4 = zero2.x * this.body2.invInertiaWorld.M11 + zero2.y * this.body2.invInertiaWorld.M21 + zero2.z * this.body2.invInertiaWorld.M31;
FP y4 = zero2.x * this.body2.invInertiaWorld.M12 + zero2.y * this.body2.invInertiaWorld.M22 + zero2.z * this.body2.invInertiaWorld.M32;
FP z4 = zero2.x * this.body2.invInertiaWorld.M13 + zero2.y * this.body2.invInertiaWorld.M23 + zero2.z * this.body2.invInertiaWorld.M33;
zero2.x = x4;
zero2.y = y4;
zero2.z = z4;
x4 = zero2.y * this.relativePos2.z - zero2.z * this.relativePos2.y;
y4 = zero2.z * this.relativePos2.x - zero2.x * this.relativePos2.z;
z4 = zero2.x * this.relativePos2.y - zero2.y * this.relativePos2.x;
zero2.x = x4;
zero2.y = y4;
zero2.z = z4;
}
}
bool flag12 = !this.treatBody1AsStatic;
if (flag12)
{
fP6 += TSVector.Dot(ref zero, ref this.tangent);
}
bool flag13 = !this.treatBody2AsStatic;
if (flag13)
{
fP6 += TSVector.Dot(ref zero2, ref this.tangent);
}
this.massTangent = FP.One / fP6;
this.restitutionBias = this.lostSpeculativeBounce;
this.speculativeVelocity = FP.Zero;
FP y5 = this.normal.x * fP + this.normal.y * fP2 + this.normal.z * fP3;
bool flag14 = this.Penetration > this.settings.allowedPenetration;
if (flag14)
{
this.restitutionBias = this.settings.bias * (FP.One / timestep) * TSMath.Max(FP.Zero, this.Penetration - this.settings.allowedPenetration);
this.restitutionBias = TSMath.Clamp(this.restitutionBias, FP.Zero, this.settings.maximumBias);
}
FP y6 = timestep / this.lastTimeStep;
this.accumulatedNormalImpulse *= y6;
this.accumulatedTangentImpulse *= y6;
FP y7 = -(this.tangent.x * fP + this.tangent.y * fP2 + this.tangent.z * fP3);
FP x5 = this.massTangent * y7;
FP y8 = -this.staticFriction * this.accumulatedNormalImpulse;
bool flag15 = x5 < y8;
if (flag15)
{
this.friction = this.dynamicFriction;
}
else
{
this.friction = this.staticFriction;
}
this.restitutionBias = TSMath.Max(-this.restitution * y5, this.restitutionBias);
bool flag16 = this.penetration < -this.settings.allowedPenetration;
if (flag16)
{
this.speculativeVelocity = this.penetration / timestep;
this.lostSpeculativeBounce = this.restitutionBias;
this.restitutionBias = FP.Zero;
}
else
{
this.lostSpeculativeBounce = FP.Zero;
}
TSVector tSVector;
tSVector.x = this.normal.x * this.accumulatedNormalImpulse + this.tangent.x * this.accumulatedTangentImpulse;
tSVector.y = this.normal.y * this.accumulatedNormalImpulse + this.tangent.y * this.accumulatedTangentImpulse;
tSVector.z = this.normal.z * this.accumulatedNormalImpulse + this.tangent.z * this.accumulatedTangentImpulse;
bool flag17 = !this.treatBody1AsStatic;
if (flag17)
{
RigidBody expr_13D4_cp_0_cp_0 = this.body1;
expr_13D4_cp_0_cp_0.linearVelocity.x = expr_13D4_cp_0_cp_0.linearVelocity.x - tSVector.x * this.body1.inverseMass;
RigidBody expr_140B_cp_0_cp_0 = this.body1;
expr_140B_cp_0_cp_0.linearVelocity.y = expr_140B_cp_0_cp_0.linearVelocity.y - tSVector.y * this.body1.inverseMass;
RigidBody expr_1442_cp_0_cp_0 = this.body1;
expr_1442_cp_0_cp_0.linearVelocity.z = expr_1442_cp_0_cp_0.linearVelocity.z - tSVector.z * this.body1.inverseMass;
bool flag18 = !this.body1IsMassPoint;
if (flag18)
{
FP x6 = this.relativePos1.y * tSVector.z - this.relativePos1.z * tSVector.y;
FP x7 = this.relativePos1.z * tSVector.x - this.relativePos1.x * tSVector.z;
FP x8 = this.relativePos1.x * tSVector.y - this.relativePos1.y * tSVector.x;
FP y9 = x6 * this.body1.invInertiaWorld.M11 + x7 * this.body1.invInertiaWorld.M21 + x8 * this.body1.invInertiaWorld.M31;
FP y10 = x6 * this.body1.invInertiaWorld.M12 + x7 * this.body1.invInertiaWorld.M22 + x8 * this.body1.invInertiaWorld.M32;
FP y11 = x6 * this.body1.invInertiaWorld.M13 + x7 * this.body1.invInertiaWorld.M23 + x8 * this.body1.invInertiaWorld.M33;
RigidBody expr_161E_cp_0_cp_0 = this.body1;
expr_161E_cp_0_cp_0.angularVelocity.x = expr_161E_cp_0_cp_0.angularVelocity.x - y9;
RigidBody expr_1640_cp_0_cp_0 = this.body1;
expr_1640_cp_0_cp_0.angularVelocity.y = expr_1640_cp_0_cp_0.angularVelocity.y - y10;
RigidBody expr_1662_cp_0_cp_0 = this.body1;
expr_1662_cp_0_cp_0.angularVelocity.z = expr_1662_cp_0_cp_0.angularVelocity.z - y11;
}
}
bool flag19 = !this.treatBody2AsStatic;
if (flag19)
{
RigidBody expr_1699_cp_0_cp_0 = this.body2;
expr_1699_cp_0_cp_0.linearVelocity.x = expr_1699_cp_0_cp_0.linearVelocity.x + tSVector.x * this.body2.inverseMass;
RigidBody expr_16D0_cp_0_cp_0 = this.body2;
expr_16D0_cp_0_cp_0.linearVelocity.y = expr_16D0_cp_0_cp_0.linearVelocity.y + tSVector.y * this.body2.inverseMass;
RigidBody expr_1707_cp_0_cp_0 = this.body2;
expr_1707_cp_0_cp_0.linearVelocity.z = expr_1707_cp_0_cp_0.linearVelocity.z + tSVector.z * this.body2.inverseMass;
bool flag20 = !this.body2IsMassPoint;
if (flag20)
{
FP x9 = this.relativePos2.y * tSVector.z - this.relativePos2.z * tSVector.y;
FP x10 = this.relativePos2.z * tSVector.x - this.relativePos2.x * tSVector.z;
FP x11 = this.relativePos2.x * tSVector.y - this.relativePos2.y * tSVector.x;
FP y12 = x9 * this.body2.invInertiaWorld.M11 + x10 * this.body2.invInertiaWorld.M21 + x11 * this.body2.invInertiaWorld.M31;
FP y13 = x9 * this.body2.invInertiaWorld.M12 + x10 * this.body2.invInertiaWorld.M22 + x11 * this.body2.invInertiaWorld.M32;
FP y14 = x9 * this.body2.invInertiaWorld.M13 + x10 * this.body2.invInertiaWorld.M23 + x11 * this.body2.invInertiaWorld.M33;
RigidBody expr_18E3_cp_0_cp_0 = this.body2;
expr_18E3_cp_0_cp_0.angularVelocity.x = expr_18E3_cp_0_cp_0.angularVelocity.x + y12;
RigidBody expr_1905_cp_0_cp_0 = this.body2;
expr_1905_cp_0_cp_0.angularVelocity.y = expr_1905_cp_0_cp_0.angularVelocity.y + y13;
RigidBody expr_1927_cp_0_cp_0 = this.body2;
expr_1927_cp_0_cp_0.angularVelocity.z = expr_1927_cp_0_cp_0.angularVelocity.z + y14;
}
}
this.lastTimeStep = timestep;
this.newContact = false;
}
