public static Quaternion RotateOverTimeFromReferenceFrame(Quaternion rotateThis, Quaternion byThis, Quaternion asIfMeasuredFromThis, float dt)
{
Quaternion start = Quaternion.Inverse(asIfMeasuredFromThis) * rotateThis;
Quaternion rhs = Euler3.RotateOverTime(start, byThis, dt);
return(asIfMeasuredFromThis * rhs);
}
public Quaternion GetFutureRotation(float t)
{
if (mode == 2)
{
return(Euler3.RotateOverTime(euler3, Euler3Speed, t).rotation);
}
if (mode == 3)
{
return(Euler3.RotateOverTimeLocal(euler3, Euler3Speed, t).rotation);
}
return((euler3 + Euler3Speed * t).rotation);
}
public static MovementFrame MoveToDirectionWithoutRoll(MovementFrame prevFrame, Euler3 targetEuler3, MovementOptions options)
{
Quaternion rotation = prevFrame.Euler3Speed.rotation;
Quaternion q = Quaternion.FromToRotation(prevFrame.euler3.direction, targetEuler3.direction);
Quaternion lhs = ScaleWithMax(q, 2f, options.yawMaxSpeed);
Quaternion q2 = lhs * Quaternion.Inverse(rotation);
Quaternion to = ScaleWithMax(q2, 8f, options.yawAcceleration);
Quaternion changePerSecond = Quaternion.RotateTowards(Quaternion.identity, to, options.yawAcceleration);
Quaternion to2 = Euler3.RotateOverTime(rotation, changePerSecond, 0.1f);
Quaternion quat = Quaternion.RotateTowards(Quaternion.identity, to2, options.yawMaxSpeed);
Euler3 euler3Speed = Euler3.Rotation(quat);
Vector3 linearSpeed = AdvanceLinearSpeed(prevFrame, options);
Vector3 strafeSpeed = AdvanceStrafingSpeed(prevFrame, options, 0f, 0f);
Euler3 nextEuler = prevFrame.NextEuler3;
MovementFrame result = new MovementFrame(prevFrame.nextPosition, nextEuler, linearSpeed, strafeSpeed, euler3Speed);
result.mode = 2;
Quaternion rotationDelta = nextEuler.rotation * Quaternion.Inverse(prevFrame.rotation) * Quaternion.identity;
//result.ActiveThrusterEffects = DetermineThrusterEffects(rotationDelta, 0f, 0f);
return(result);
}