public ChQuaternion GetInverse()
{
ChQuaternion invq = this.GetConjugate();
// dynamic l = this.Length();
invq.Scale(1 / this.Length());
return(invq);
}
// Get the quaternion first derivative from the vector of angular acceleration with a specified in _absolute_ coords.
public void Qdtdt_from_Aabs2(ChVector a,
ChQuaternion q,
ChQuaternion q_dt)
{
ChQuaternion qao = new ChQuaternion(0, a);
ChQuaternion qwo = new ChQuaternion(1, 0, 0, 0); //QNULL;
ChQuaternion qtmpa = new ChQuaternion(1, 0, 0, 0);
ChQuaternion qtmpb = new ChQuaternion(1, 0, 0, 0); //QNULL;
qwo.Cross(q_dt, q.GetConjugate());
qtmpb.Cross(qwo, q_dt);
qtmpa.Cross(qao, q);
qtmpa.Scale(0.5);
this.Add(qtmpa, qtmpb);
}
