Method ApplySpeed

engine/Poseidon/World/Simulation/Simul.cpp:509–524

}

void Entity::ApplySpeed(Matrix4& result, float deltaT)
{
    Vector3 position = Position();
    position += _speed * deltaT;
    // rotate around the center of mass: translate COM to origin, rotate, translate back
    Vector3Val com = GetCenterOfMass();
    Matrix3 orientation = Orientation();
    Vector3Val translateCOM = orientation * com;
    orientation += _angVelocity.Tilda() * orientation * deltaT;
    orientation.Orthogonalize();
    Vector3 backCOM = orientation * com;
    position += translateCOM - backCOM;

    result.SetPosition(position);
    result.SetOrientation(orientation);
}

void Entity::OnAddImpulse(Vector3Par force, Vector3Par torque) {}