| 363 |
|
integrableObjects[i]->getVel(vel); |
| 364 |
|
integrableObjects[i]->getPos(pos); |
| 365 |
|
integrableObjects[i]->getFrc(frc); |
| 366 |
+ |
std::cerr << "f = " << frc[0] << "\t" << frc[1] << "\t" << frc[2] << "\n"; |
| 367 |
|
|
| 368 |
|
mass = integrableObjects[i]->getMass(); |
| 369 |
|
|
| 376 |
|
|
| 377 |
|
integrableObjects[i]->setVel(vel); |
| 378 |
|
integrableObjects[i]->setPos(pos); |
| 379 |
+ |
|
| 380 |
|
|
| 381 |
|
if (integrableObjects[i]->isDirectional()){ |
| 382 |
|
|
| 383 |
|
// get and convert the torque to body frame |
| 384 |
|
|
| 385 |
|
integrableObjects[i]->getTrq(Tb); |
| 386 |
+ |
|
| 387 |
+ |
std::cerr << "t = " << Tb[0] << "\t" << Tb[1] << "\t" << Tb[2] << "\n"; |
| 388 |
|
integrableObjects[i]->lab2Body(Tb); |
| 389 |
|
|
| 390 |
|
// get the angular momentum, and propagate a half step |
| 720 |
|
sd->getI(I); |
| 721 |
|
|
| 722 |
|
if (sd->isLinear()) { |
| 723 |
+ |
|
| 724 |
|
i = sd->linearAxis(); |
| 725 |
|
j = (i+1)%3; |
| 726 |
|
k = (i+2)%3; |
| 727 |
< |
|
| 727 |
> |
|
| 728 |
|
angle = dt2 * ji[j] / I[j][j]; |
| 729 |
|
this->rotate( k, i, angle, ji, A ); |
| 730 |
|
|