Method integrateVelocity

examples/Tutorial/Tutorial.cpp:182–230

	}

	void integrateVelocity(double deltaTime)
	{
		LWPose newPose;

		newPose.m_position = m_worldPose.m_position + m_linearVelocity * deltaTime;

		if (m_flags & LWFLAG_USE_QUATERNION_DERIVATIVE)
		{
			newPose.m_orientation = m_worldPose.m_orientation;
			newPose.m_orientation += (m_angularVelocity * newPose.m_orientation) * (deltaTime * btScalar(0.5));
			newPose.m_orientation.normalize();
			m_worldPose = newPose;
		}
		else
		{
			//Exponential map
			//google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia

			//btQuaternion q_w = [ sin(|w|*dt/2) * w/|w| , cos(|w|*dt/2)]
			//btQuaternion q_new =  q_w * q_old;

			b3Vector3 axis;
			b3Scalar fAngle = m_angularVelocity.length();
			//limit the angular motion
			const btScalar angularMotionThreshold = btScalar(0.5) * SIMD_HALF_PI;

			if (fAngle * deltaTime > angularMotionThreshold)
			{
				fAngle = angularMotionThreshold / deltaTime;
			}

			if (fAngle < btScalar(0.001))
			{
				// use Taylor's expansions of sync function
				axis = m_angularVelocity * (btScalar(0.5) * deltaTime - (deltaTime * deltaTime * deltaTime) * (btScalar(0.020833333333)) * fAngle * fAngle);
			}
			else
			{
				// sync(fAngle) = sin(c*fAngle)/t
				axis = m_angularVelocity * (btSin(btScalar(0.5) * fAngle * deltaTime) / fAngle);
			}
			b3Quaternion dorn(axis.x, axis.y, axis.z, btCos(fAngle * deltaTime * b3Scalar(0.5)));
			b3Quaternion orn0 = m_worldPose.m_orientation;

			b3Quaternion predictedOrn = dorn * orn0;
			predictedOrn.normalize();
			m_worldPose.m_orientation = predictedOrn;
		}
	}

	void stepSimulation(double deltaTime)
	{