public readonly double PowerNegZ; // forward
public MotionState(MotionDriver driver)
{
Time = driver.time;
Position = driver.shipController.GetPosition();
Orientation = Quaternion.CreateFromRotationMatrix(driver.shipController.CubeGrid.WorldMatrix.GetOrientation());
BaseMass = driver.baseMass;
TotalMass = driver.totalMass;
WorldMatrix = driver.shipController.CubeGrid.WorldMatrix;
WorldMatrixInverse = MatrixD.Invert(WorldMatrix);
PowerPosX = driver.powerPosX;
PowerPosY = driver.powerPosY;
PowerPosZ = driver.powerPosZ;
PowerNegX = driver.powerNegX;
PowerNegY = driver.powerNegY;
PowerNegZ = driver.powerNegZ;
var velocities = driver.shipController.GetShipVelocities();
VelocityWorld = velocities.LinearVelocity;
VelocityLocal = Vector3D.TransformNormal(VelocityWorld, WorldMatrixInverse);
AngularVelocityWorldYPR = velocities.AngularVelocity;
Quaternion.CreateFromYawPitchRoll((float)-AngularVelocityWorldYPR.Y, (float)AngularVelocityWorldYPR.X, (float)-AngularVelocityWorldYPR.Z, out AngularVelocityWorld);
AngularVelocityLocalYPR = Vector3D.TransformNormal(AngularVelocityLocalYPR, WorldMatrixInverse);
Quaternion.CreateFromYawPitchRoll((float)-AngularVelocityLocalYPR.Y, (float)AngularVelocityLocalYPR.X, (float)-AngularVelocityLocalYPR.Z, out AngularVelocityLocal);
// TODO: double-check gravity compensation
GravityWorld = driver.shipController.GetNaturalGravity();
GravityLocal = Vector3D.TransformNormal(GravityWorld, WorldMatrixInverse);
}
public MotionState(MotionDriver d)
{
Time = d.TM; Position = d.SC.GetPosition(); Orientation = Quaternion.CreateFromRotationMatrix(d.SC.WorldMatrix.GetOrientation()); BaseMass = d.B; TotalMass = d.M; WorldMatrix = d.SC.WorldMatrix; WorldMatrixInverse = MatrixD.Invert(this.WorldMatrix); PowerPosX = d.PX; PowerPosY = d.PY; PowerPosZ = d.PZ; PowerNegX = d.NX; PowerNegY = d.NY; PowerNegZ = d.NZ; var v = d.SC.GetShipVelocities(); VelocityWorld = v.LinearVelocity; VelocityLocal = Vector3D.TransformNormal(VelocityWorld, WorldMatrixInverse); AngularVelocityWorldYPR = v.AngularVelocity; Quaternion.CreateFromYawPitchRoll((float)-AngularVelocityWorldYPR.Y, (float)AngularVelocityWorldYPR.X, (float)-AngularVelocityWorldYPR.Z, out AngularVelocityWorld); AngularVelocityLocalYPR = Vector3D.TransformNormal(AngularVelocityLocalYPR, WorldMatrixInverse); Quaternion.CreateFromYawPitchRoll((float)-AngularVelocityLocalYPR.Y, (float)AngularVelocityLocalYPR.X, (float)-AngularVelocityLocalYPR.Z, out AngularVelocityLocal); GravityWorld = d.SC.GetNaturalGravity(); GravityLocal = Vector3D.TransformNormal(GravityWorld, WorldMatrixInverse);
}
