| 46 |  | void ObjectRestraint::calcForce(Vector3d struc) { | 
| 47 |  |  | 
| 48 |  | pot_ = 0.0; | 
| 49 | – |  | 
| 49 |  | if (restType_ & rtDisplacement) { | 
| 50 |  | Vector3d del = struc - refPos_; | 
| 51 | < | RealType r = del.length(); | 
| 51 | > | RealType r = del.length(); | 
| 52 |  | Vector3d frc = -kDisp_ * del; | 
| 53 |  | RealType p = 0.5 * kDisp_ * del.lengthSquare(); | 
| 54 | < | pot_ += p; | 
| 54 | > | pot_ = p; | 
| 55 |  | force_ = frc * scaleFactor_; | 
| 56 |  | restInfo_[rtDisplacement] = std::make_pair(r,p); | 
| 57 |  | } | 
| 72 |  |  | 
| 73 |  | RealType twistAngle, swingAngle; | 
| 74 |  | Vector3d swingAxis; | 
| 75 | < | RealType tw, swingX, swingY; | 
| 75 | > | RealType swingX, swingY; | 
| 76 |  |  | 
| 77 | < | quat.getTwistSwingAxisAngle(twistAngle, swingAngle, swingAxis); | 
| 78 | < | quat.toSwingTwist(swingX, swingY, tw); | 
| 79 | < |  | 
| 77 | > | quat.toSwingTwist(swingX, swingY, twistAngle); | 
| 78 | > |  | 
| 79 | > |  | 
| 80 |  | RealType dVdtwist, dVdswingX, dVdswingY; | 
| 81 |  | RealType dTwist, dSwingX, dSwingY; | 
| 82 |  | RealType p; |