public override void Update(Window window, Camera camera, Input input, float dt)
{
if (input.WasPushed(OpenTK.Input.Key.Z))
{
//INVEST TODAY FOR INCREDIBLE RETURNS DON'T MISS OUT LOOK AT THE COINS THERE ARE A LOT OF THEM AND THEY COULD BE YOURS
var origin = new Vector3(-30, 5, -30) + new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble()) * new Vector3(60, 30, 60);
for (int i = 0; i < 128; ++i)
{
var direction = new Vector3(-1) + 2 * new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
var length = direction.Length();
if (length > 1e-7f)
{
direction /= length;
}
else
{
direction = new Vector3(0, 1, 0);
}
coinDescription.Pose.Position = origin + direction * 10 * (float)random.NextDouble();
coinDescription.Pose.Orientation = Quaternion.Normalize(new Quaternion(0.01f + (float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble()));
coinDescription.Velocity.Linear = direction * (5 + 30 * (float)random.NextDouble());
Simulation.Bodies.Add(coinDescription);
}
}
base.Update(window, camera, input, dt);
}
public void Test(Random random, int innerIterations)
{
Quaternion q;
q.X = (float)random.NextDouble() * 2 - 1;
q.Y = (float)random.NextDouble() * 2 - 1;
q.Z = (float)random.NextDouble() * 2 - 1;
q.W = (float)random.NextDouble() * 2 - 1;
Quaternion.Normalize(ref q);
for (int i = 0; i < innerIterations; ++i)
{
Matrix3x3.CreateFromQuaternion(ref q, out var r);
Quaternion.CreateFromRotationMatrix(ref r, out var qTest);
#if DEBUG
const float epsilon = 1e-6f;
var lengthX = r.X.Length();
var lengthY = r.Y.Length();
var lengthZ = r.Z.Length();
Debug.Assert(
Math.Abs(1 - lengthX) < epsilon &&
Math.Abs(1 - lengthY) < epsilon &&
Math.Abs(1 - lengthZ) < epsilon);
if (qTest.X * q.X < 0)
{
Quaternion.Negate(ref qTest, out qTest);
}
Debug.Assert(
Math.Abs(qTest.X - q.X) < epsilon &&
Math.Abs(qTest.Y - q.Y) < epsilon &&
Math.Abs(qTest.Z - q.Z) < epsilon &&
Math.Abs(qTest.W - q.W) < epsilon);
#endif
}
}