# | Line 48 | Line 48 | namespace oopse { | |
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48 | pot_ = 0.0; | |
49 | ||
50 | if (restType_ & rtDisplacement) { | |
51 | < | Vector3d del = struc - refPos_; |
51 | > | Vector3d del = struc - refPos_; |
52 | > | RealType r = del.length(); |
53 | Vector3d frc = -kDisp_ * del; | |
54 | < | pot_ += 0.5 * kDisp_ * del.lengthSquare(); |
54 | > | RealType p = 0.5 * kDisp_ * del.lengthSquare(); |
55 | > | pot_ += p; |
56 | force_ = frc * scaleFactor_; | |
57 | + | restInfo_[rtDisplacement] = std::make_pair(r,p); |
58 | } | |
59 | } | |
60 | ||
# | Line 107 | Line 110 | namespace oopse { | |
110 | restInfo_[rtSwingY] = std::make_pair(swingY, p); | |
111 | } | |
112 | ||
110 | – | std::cerr << "sw = " << swingAngle << " tw = " << twistAngle << "\n"; |
111 | – | std::cerr << "tbod = " << tBody << "\n"; |
113 | Vector3d tLab = A.transpose() * tBody; | |
114 | torque_ = tLab * scaleFactor_; | |
115 | } |
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