| 173 |
|
IAtom(0, 0) += mtmp * r2; |
| 174 |
|
IAtom(1, 1) += mtmp * r2; |
| 175 |
|
IAtom(2, 2) += mtmp * r2; |
| 176 |
+ |
Itmp += IAtom; |
| 177 |
|
|
| 178 |
|
//project the inertial moment of directional atoms into this rigid body |
| 179 |
|
if (atoms_[i]->isDirectional()) { |
| 180 |
< |
IAtom += atoms_[i]->getI(); |
| 181 |
< |
Itmp += refOrients_[i].transpose() * IAtom * refOrients_[i]; |
| 181 |
< |
} else { |
| 182 |
< |
Itmp += IAtom; |
| 183 |
< |
} |
| 180 |
> |
Itmp += refOrients_[i].transpose() * atoms_[i]->getI() * refOrients_[i]; |
| 181 |
> |
} |
| 182 |
|
} |
| 183 |
|
|
| 184 |
+ |
// std::cout << Itmp << std::endl; |
| 185 |
+ |
|
| 186 |
|
//diagonalize |
| 187 |
|
Vector3d evals; |
| 188 |
|
Mat3x3d::diagonalize(Itmp, evals, sU_); |
