static void rotateAroundAxis(DoubleTransform dtr, DVec3 localAxis, double angle) { var axis = (dtr.localRotation * localAxis).normalized; var rot = DQuat.fromAxisAngle(axis, angle).normalized; dtr.localRotation = (rot * dtr.localRotation).normalized; }
public PhysBodyRecord(DoublePhysicsBody phys_, DoubleTransform dtr_) { phys = phys_; dtr = dtr_; }