| 77 |
|
|
| 78 |
|
quat.toSwingTwist(swingX, swingY, twistAngle); |
| 79 |
|
|
| 80 |
– |
RealType dVdtwist, dVdswingX, dVdswingY; |
| 81 |
– |
RealType dTwist, dSwingX, dSwingY; |
| 80 |
|
RealType p; |
| 81 |
|
Vector3d tTwist, tSwing; |
| 82 |
|
|
| 83 |
|
if (restType_ & rtTwist){ |
| 84 |
< |
dTwist = twistAngle - twist0_; |
| 85 |
< |
dVdtwist = kTwist_ * sin(dTwist); |
| 84 |
> |
RealType dTwist = twistAngle - twist0_; |
| 85 |
> |
RealType dVdtwist = kTwist_ * sin(dTwist); |
| 86 |
|
p = kTwist_ * (1.0 - cos(dTwist) ); |
| 87 |
|
pot_ += p; |
| 88 |
|
tBody -= dVdtwist * V3Z; |
| 90 |
|
} |
| 91 |
|
|
| 92 |
|
if (restType_ & rtSwingX){ |
| 93 |
< |
dSwingX = swingX - swingX0_; |
| 94 |
< |
dVdswingX = kSwingX_ * 0.5 * sin(2.0 * dSwingX); |
| 93 |
> |
RealType dSwingX = swingX - swingX0_; |
| 94 |
> |
RealType dVdswingX = kSwingX_ * 0.5 * sin(2.0 * dSwingX); |
| 95 |
|
p = 0.25 * kSwingX_ * (1.0 - cos(2.0 * dSwingX)); |
| 96 |
|
pot_ += p; |
| 97 |
|
tBody -= dVdswingX * V3X; |
| 99 |
|
} |
| 100 |
|
|
| 101 |
|
if (restType_ & rtSwingY){ |
| 102 |
< |
dSwingY = swingY - swingY0_; |
| 103 |
< |
dVdswingY = kSwingY_ * 0.5 * sin(2.0 * dSwingY); |
| 102 |
> |
RealType dSwingY = swingY - swingY0_; |
| 103 |
> |
RealType dVdswingY = kSwingY_ * 0.5 * sin(2.0 * dSwingY); |
| 104 |
|
p = 0.25 * kSwingY_ * (1.0 - cos(2.0 * dSwingY)); |
| 105 |
|
pot_ += p; |
| 106 |
|
tBody -= dVdswingY * V3Y; |