public virtual void Update(float dt)
{
_location = _location + _linearVelocity * dt;
kQuat operationalAngularVelocity = new kQuat(_angularVelocity);
operationalAngularVelocity.scl = operationalAngularVelocity.scl * dt;
if (_angularVelocity.scl == 0.0f || _angularVelocity.scl == 2.0 * Math.PI)
{
// No angular velocity; keep old orientation
}
else if (_orientation.scl == 0.0f || _orientation.scl == 2.0 * Math.PI)
{
// Frame has not yet rotated; apply one step of velocity
_orientation = operationalAngularVelocity;
}
else
{
// Convert both quaternions to operational; combine; revert to valued
operationalAngularVelocity.convertValuedToOperational();
_orientation.convertValuedToOperational();
_orientation = operationalAngularVelocity * _orientation;
_orientation.convertOperationalToValued();
}
while (_orientation.scl > 2.0 * Math.PI)
{
_orientation.scl = _orientation.scl - 2.0f * (float)Math.PI;
}
while (_orientation.scl < 0.0)
{
_orientation.scl = _orientation.scl + 2.0f * (float)Math.PI;
}
_orientation.normalize();
}
public kQuat(kQuat o1)
{
scl = o1.scl;
i = o1.i;
j = o1.j;
k = o1.k;
}
public static kQuat operator *(kQuat o1, kQuat o2)
{
kQuat toReturn = new kQuat();
toReturn.scl = o1.scl * o2.scl - o1.i * o2.i - o1.j * o2.j - o1.k * o2.k;
toReturn.i = o1.scl * o2.i + o1.i * o2.scl + o1.j * o2.k - o1.k * o2.j;
toReturn.j = o1.scl * o2.j - o1.i * o2.k + o1.j * o2.scl + o1.k * o2.i;
toReturn.k = o1.scl * o2.k + o1.i * o2.j - o1.j * o2.i + o1.k * o2.scl;
return(toReturn);
}
public aObject()
{
Mesh = new aMesh();
Mesh.loadCube(1.0f);
_location = new aVertex();
_orientation = new kQuat();
_color = new aColor();
_linearVelocity = new aVertex();
_angularVelocity = new kQuat();
}