rotation in shader

js/simulation/function/EM/shaders/angVelocityCalcShader.js

@@ -11,7 +11,7 @@ uniform float u_wiresMetaLength;
 uniform float u_time;
 
 
-uniform sampler2D u_angularVelocity;
+uniform sampler2D u_lastAngVelocity;
 uniform sampler2D u_lastVelocity;
 uniform sampler2D u_lastTranslation;
 uniform sampler2D u_mass;
@@ -284,7 +284,7 @@ void main(){
     vec3 translation = texture2D(u_lastTranslation, scaledFragCoord).xyz;
     vec3 velocity = texture2D(u_lastVelocity, scaledFragCoord).xyz;
     vec4 quaternion = texture2D(u_lastQuaternion, scaledFragCoord);
-    vec3 angVelocity = texture2D(u_angularVelocity, scaledFragCoord).xyz;
+    vec3 angVelocity = texture2D(u_lastAngVelocity, scaledFragCoord).xyz;
 
     vec4 wiring = texture2D(u_wires, scaledFragCoord);
     bool isActuator = wiring[0] < -0.5;//-1
@@ -372,6 +372,6 @@ void main(){
         }
     }
 
-    angVelocity += torque/momOfInertia;
+    angVelocity += (torque/momOfInertia)*u_dt;
     gl_FragColor = vec4(angVelocity, 0);
 }
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js/simulation/function/EM/shaders/quaternionCalcShader.js

+#define M_PI 3.1415926535897932384626433832795
+
+precision mediump float;
+
+uniform vec2 u_textureDim;
+uniform float u_dt;
+
+uniform sampler2D u_angVelocity;
+uniform sampler2D u_lastQuaternion;
+uniform sampler2D u_mass;
+
+vec4 quaternionFromEuler(vec3 euler) {
+
+    float c1 = cos(euler[0] / 2.0);
+    float c2 = cos(euler[1] / 2.0);
+    float c3 = cos(euler[2] / 2.0);
+    float s1 = sin(euler[0] / 2.0);
+    float s2 = sin(euler[1] / 2.0);
+    float s3 = sin(euler[2] / 2.0);
+
+    return vec4(s1 * c2 * c3 - c1 * s2 * s3, c1 * s2 * c3 + s1 * c2 * s3, c1 * c2 * s3 - s1 * s2 * c3, c1 * c2 * c3 + s1 * s2 * s3);//zyx
+}
+
+vec4 multiplyQuaternions(vec4 a, vec4 b){
+    float qax = a[0];
+    float qay = a[1];
+    float qaz = a[2];
+    float qaw = a[3];
+    float qbx = b[0];
+    float qby = b[1];
+    float qbz = b[2];
+    float qbw = b[3];
+    return vec4(qax * qbw + qaw * qbx + qay * qbz - qaz * qby, qay * qbw + qaw * qby + qaz * qbx - qax * qbz,
+        qaz * qbw + qaw * qbz + qax * qby - qay * qbx, qaw * qbw - qax * qbx - qay * qby - qaz * qbz);
+}
+
+void main(){
+
+    vec2 fragCoord = gl_FragCoord.xy;
+    vec2 scaledFragCoord = fragCoord/u_textureDim;
+
+    float isFixed = texture2D(u_mass, scaledFragCoord).y;
+    if (isFixed < 0.0 || isFixed == 1.0){//no cell or is fixed
+        gl_FragColor = vec4(0, 0, 0, 1);
+        return;
+    }
+
+    vec4 quaternion = texture2D(u_lastQuaternion, scaledFragCoord);
+    vec3 angVelocity = texture2D(u_angVelocity, scaledFragCoord).xyz;
+
+    vec4 quaternionDelta = quaternionFromEuler(angVelocity*u_dt);
+    gl_FragColor = multiplyQuaternions(quaternion, quaternionDelta);
+}
\ No newline at end of file

js/simulation/function/EM/shaders/velocityCalcShader.js

@@ -178,13 +178,15 @@ void main(){
     vec2 fragCoord = gl_FragCoord.xy;
     vec2 scaledFragCoord = fragCoord/u_textureDim;
 
-    float isFixed = texture2D(u_mass, scaledFragCoord).y;
+    vec3 massData = texture2D(u_mass, scaledFragCoord).xyz;
+
+    float isFixed = massData.y;
     if (isFixed < 0.0 || isFixed == 1.0){//no cell or is fixed
         gl_FragColor = vec4(0, 0, 0, 0);
         return;
     }
 
-    float mass = texture2D(u_mass, scaledFragCoord).x;
+    float mass = massData.x;
     vec3 force = u_gravity*mass;
 
     vec3 translation = texture2D(u_lastTranslation, scaledFragCoord).xyz;