private static double GetLeftRightThrusterMagnitude(MyMatrix3 inertialTensor)
{
// Create a standard sized solid ball, and use that as my baseline
SolidBall standBall = new SolidBall(new MyVector(), new DoubleVector(1, 0, 0, 0, 1, 0), STANDARDRADIUS, UtilityCore.GetMassForRadius(STANDARDRADIUS, 1d));
double averageStand = GetLeftRightThrusterMagnitudeSprtGetAvg(standBall.InertialTensorBody);
double averageShip = GetLeftRightThrusterMagnitudeSprtGetAvg(inertialTensor);
return(THRUSTER_FORCE * (Math.Sqrt(averageShip) / Math.Sqrt(averageStand))); // I need sqrt, because the tensor's don't grow linearly
}
private static double GetLeftRightThrusterMagnitudeSprtGetAvg(MyMatrix3 inertialTensor)
{
double retVal = 0;
// I don't include 2-2, because it represents the center, and doesn't really have an effect on spin?
retVal += inertialTensor.M11;
//retVal += inertialTensor.M12;
//retVal += inertialTensor.M13;
//retVal += inertialTensor.M21;
//retVal += inertialTensor.M22;
//retVal += inertialTensor.M23;
//retVal += inertialTensor.M31;
//retVal += inertialTensor.M32;
retVal += inertialTensor.M33;
return(retVal / 2d);
}
private void button5_Click(object sender, EventArgs e)
{
// This button tests TorqueBall.OrthonormalizeOrientation
ClearPictureBox();
// Setup Orig Vector
MyVector origVector = new MyVector(9, 0, 0);
DrawVector(origVector, Color.Silver);
// Rotate around Z
MyQuaternion rotationQuat = new MyQuaternion(new MyVector(0, 0, 1), Utility3D.GetDegreesToRadians(30));
MyVector rotated = rotationQuat.GetRotatedVector(origVector, true);
DrawVector(rotated, Color.Black);
MyMatrix3 rotationMatrix = rotationQuat.ToMatrix3FromUnitQuaternion();
// See if this affects the rotation matrix
TorqueBall.OrthonormalizeOrientation(rotationMatrix);
rotationQuat = null;
rotationQuat = new MyQuaternion();
rotationQuat.FromRotationMatrix(rotationMatrix);
rotationMatrix = null;
// Draw the results
rotated = rotationQuat.GetRotatedVector(origVector, true);
DrawVector(rotated, Color.DodgerBlue);
}
