/// <summary>
/// Creates a rotation matrix from a quaternion
/// </summary>
/// <param name="orientation">The orientation quaternion</param>
/// <returns>A rotation matrix</returns>
public static Matrix4 CreateRotation(Quaternion orientation)
{
return new Matrix4(Matrix4d.Rotate(orientation.OpenTKEquivalent));
}
/// <summary>
/// Rotates a matrix using a quaternion
/// </summary>
/// <param name="orientation">The orientation quaternion</param>
/// <returns>A rotated matrix</returns>
public void Rotate(Quaternion orientation)
{
OpenTKEquivalent = OpenTKEquivalent * Matrix4d.Rotate(orientation.OpenTKEquivalent);
}
/// <summary>
/// Set the orientation of the entity instantly.
/// </summary>
/// <param name="orientation">The new orientation of the entity.</param>
public void SetOrientation(Quaternion orientation)
{
Orientation = orientation;
}
internal void Integrate(double deltaTime)
{
Vector3 Acceleration = ForceAccumulator * InverseMass;
Velocity += Acceleration * deltaTime;
Position += Velocity * deltaTime;
ForceAccumulator = Vector3.Zero;
Vector3 AngularAcceleration = InertiaTensor * TorqueAccumulator;
AngularVelocity *= new Quaternion(AngularAcceleration * deltaTime);
AngularVelocity.Normalize();
Orientation *= AngularVelocity;
Orientation.Normalize();
TorqueAccumulator = Vector3.Zero;
CalculateTransformMatrix();
}
/// <summary>
/// Set the angular velocity of the entity instantly.
/// </summary>
/// <param name="angularVelocity">The new angular velocity of the entity.</param>
public void SetAngularVelocity(Quaternion angularVelocity)
{
AngularVelocity = angularVelocity;
}