void FixedUpdate() { // Calculate acceleration in the rotating reference frame Math3d.LinearVelocity(out linearVelocity, transform.position, linearVelocitySamples); Math3d.AngularVelocity(out angularVelocity, transform.rotation, angularVelocitySamples); Math3d.LinearAcceleration(out linearAcceleration, transform.position, linearAccelerationSamples); Math3d.AngularAcceleration(out angularAcceleration, transform.rotation, angularAccelerationSamples); //velocity_r = linearVelocity - Vector3.Cross(angularVelocity, transform.position); acceleration = linearAcceleration; if (pm != null) { pm.MoverFixedUpdate(); } }