rocketsim 0.2.0

Simulate Rocket League games at maximum efficiency
Documentation 
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use std::f32::consts::FRAC_PI_4;

use glam::{Affine3A, Mat3A, Quat, Vec3A};

const ANGULAR_MOTION_THRESHOLD: f32 = FRAC_PI_4;

#[inline]
pub fn integrate_trans_no_rot(cur_trans: &mut Vec3A, lin_vel: Vec3A, time_step: f32) {
    *cur_trans += lin_vel * time_step;
}

pub fn integrate_trans(
    cur_trans: &mut Affine3A,
    cur_rot: &mut Quat,
    lin_vel: Vec3A,
    ang_vel: Vec3A,
    time_step: f32,
) {
    integrate_trans_no_rot(&mut cur_trans.translation, lin_vel, time_step);

    let mut angle = ang_vel.length();

    if angle * time_step > ANGULAR_MOTION_THRESHOLD {
        angle = ANGULAR_MOTION_THRESHOLD / time_step;
    }

    let half_angle = angle * time_step * 0.5;
    let (axis, cos_half_angle) = if angle < 0.001 {
        (
            ang_vel
                * (0.5 * time_step - time_step * time_step * time_step * 0.020_833_334)
                * angle
                * angle,
            half_angle.cos(),
        )
    } else {
        (ang_vel * (half_angle.sin() / angle), half_angle.cos())
    };

    let dorn = Quat::from_xyzw(axis.x, axis.y, axis.z, cos_half_angle);
    *cur_rot = (dorn * *cur_rot).normalize();
    cur_trans.matrix3 = Mat3A::from_quat(*cur_rot);
}