setDQ method

void setDQ(
  1. Quaternion q,
  2. Vector3 omega
)

Set the quaternion to the time derivative of q with angular velocity omega.

Implementation

void setDQ(Quaternion q, Vector3 omega) {
  final Float64List qStorage = q._qStorage;
  final Float64List omegaStorage = omega.storage;
  final double qx = qStorage[0];
  final double qy = qStorage[1];
  final double qz = qStorage[2];
  final double qw = qStorage[3];
  final double ox = omegaStorage[0];
  final double oy = omegaStorage[1];
  final double oz = omegaStorage[2];
  final double x = ox * qw + oy * qz - oz * qy;
  final double y = oy * qw + oz * qx - ox * qz;
  final double z = oz * qw + ox * qy - oy * qx;
  final double w = -ox * qx - oy * qy - oz * qz;
  _qStorage[0] = x * 0.5;
  _qStorage[1] = y * 0.5;
  _qStorage[2] = z * 0.5;
  _qStorage[3] = w * 0.5;
}