/// <summary>
/// implementation updates the position/orientation with the
/// current velocties.
/// </summary>
/// <param name="dt"></param>
public void UpdatePosition(float dt)
{
if (immovable || !IsActive)
{
return;
}
#region REFERENCE: Vector3 angMomBefore = Vector3.Transform(transformRate.AngularVelocity, worldInertia);
Vector3 angMomBefore;
Vector3.Transform(ref transformRate.AngularVelocity, ref worldInertia, out angMomBefore);
#endregion
transform.ApplyTransformRate(transformRate, dt);
#region REFERENCE: invOrientation = Matrix.Transpose(transform.Orientation);
Matrix.Transpose(ref transform.Orientation, out invOrientation);
#endregion
// recalculate the world inertia
#region REFERENCE: worldInvInertia = invOrientation * bodyInvInertia * transform.Orientation;
Matrix.Multiply(ref invOrientation, ref bodyInvInertia, out worldInvInertia);
Matrix.Multiply(ref worldInvInertia, ref transform.Orientation, out worldInvInertia);
#endregion
#region REFERENCE: worldInertia = invOrientation * bodyInertia * transform.Orientation;
Matrix.Multiply(ref invOrientation, ref bodyInertia, out worldInertia);
Matrix.Multiply(ref worldInertia, ref transform.Orientation, out worldInertia);
#endregion
// conservation of momentum
#region REFERENCE: transformRate.AngularVelocity = Vector3.Transform(angMomBefore, worldInvInertia);
Vector3.Transform(ref angMomBefore, ref worldInvInertia, out transformRate.AngularVelocity);
#endregion
if (this.CollisionSkin != null)
{
CollisionSkin.SetTransform(ref oldTransform, ref transform);
}
}
