void Update()
{
Vector3 axis = Vector3.down;
float angularSpeed = 1.0f;
float dt = m_timeScale * Time.fixedDeltaTime;
// render
Quaternion baseRot = Quaternion.FromToRotation(Vector3.one, Vector3.up);
DebugUtil.DrawBox(Vector3.zero, m_quatClosedForm * baseRot, Vector3.one, m_closedColor, true, DebugUtil.Style.FlatShaded);
DebugUtil.DrawBox(Vector3.zero, m_quatPower * baseRot, 1.05f * Vector3.one, m_powerColor, true, DebugUtil.Style.Wireframe);
DebugUtil.DrawBox(Vector3.zero, m_quatDerivative * baseRot, 1.1f * Vector3.one, m_derivativeColor, true, DebugUtil.Style.Wireframe);
// integrate
Quaternion v = QuaternionUtil.AxisAngle(axis, angularSpeed);
Vector3 o = angularSpeed * axis;
m_quatClosedForm = QuaternionUtil.Normalize(QuaternionUtil.AxisAngle(axis, (m_angle += angularSpeed * dt)));
m_quatPower = QuaternionUtil.Normalize(QuaternionUtil.Integrate(m_quatPower, v, dt));
m_quatDerivative = QuaternionUtil.Normalize(QuaternionUtil.Integrate(m_quatDerivative, o, dt));
if (Input.GetKey(KeyCode.Space))
{
Reset();
}
}
private void DrawBoxDimensions(Vector3 center)
{
Vector3 dimensions = new Vector3
(
1.0f + 0.2f * Mathf.Sin(m_phase),
1.0f + 0.2f * Mathf.Sin(m_phase + 0.6f * Mathf.PI),
1.0f + 0.2f * Mathf.Sin(m_phase + 1.2f * Mathf.PI)
);
DebugUtil.DrawBox(center + m_basePos, m_baseRotQuat, dimensions, Color.white);
}
private void DrawBoxDimensions(Vector3 center)
{
Vector3 dimensions = new Vector3
(
1.0f + 0.2f * Mathf.Sin(m_phase),
1.0f + 0.2f * Mathf.Sin(m_phase + 0.6f * Mathf.PI),
1.0f + 0.2f * Mathf.Sin(m_phase + 1.2f * Mathf.PI)
);
Color color = (m_style == DebugUtil.Style.Wireframe ? m_wireframeColor : new Color(0.7f, 0.2f, 0.2f));
DebugUtil.DrawBox(center + m_basePos, m_baseRotQuat, dimensions, color, true, m_style);
}