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#include <math.h> | 
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#include "primitives/RigidBody.hpp" | 
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#include "utils/simError.h" | 
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#include "utils/NumericConstant.hpp" | 
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namespace oopse { | 
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RigidBody::RigidBody() : StuntDouble(otRigidBody, &Snapshot::rigidbodyData), inertiaTensor_(0.0){ | 
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      simError(); | 
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    }     | 
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     | 
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    euler[0] = ats->getEulerPhi(); | 
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< | 
    euler[1] = ats->getEulerTheta(); | 
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    euler[2] = ats->getEulerPsi(); | 
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    euler[0] = ats->getEulerPhi() * NumericConstant::PI /180.0; | 
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    euler[1] = ats->getEulerTheta() * NumericConstant::PI /180.0; | 
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    euler[2] = ats->getEulerPsi() * NumericConstant::PI /180.0; | 
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    RotMat3x3d Atmp(euler); | 
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    refOrients_.push_back(Atmp); |