| 391 |
|
} |
| 392 |
|
|
| 393 |
|
void RigidBody::updateAtomVel() { |
| 394 |
< |
Mat3x3d skewMat;; |
| 394 |
> |
Mat3x3d skewMat; |
| 395 |
|
|
| 396 |
|
Vector3d ji = getJ(); |
| 397 |
|
Mat3x3d I = getI(); |
| 489 |
|
Vector3d ji = getJ(); |
| 490 |
|
Mat3x3d I = getI(); |
| 491 |
|
|
| 492 |
< |
skewMat(0, 0) =0; |
| 493 |
< |
skewMat(0, 1) = ji[2] /I(2, 2); |
| 494 |
< |
skewMat(0, 2) = -ji[1] /I(1, 1); |
| 492 |
> |
skewMat(0, 0) = 0; |
| 493 |
> |
skewMat(0, 1) = ji[2] / I(2, 2); |
| 494 |
> |
skewMat(0, 2) = -ji[1] / I(1, 1); |
| 495 |
|
|
| 496 |
< |
skewMat(1, 0) = -ji[2] /I(2, 2); |
| 497 |
< |
skewMat(1, 1) = 0; |
| 498 |
< |
skewMat(1, 2) = ji[0]/I(0, 0); |
| 496 |
> |
skewMat(1, 0) = -ji[2] / I(2, 2); |
| 497 |
> |
skewMat(1, 1) = 0; |
| 498 |
> |
skewMat(1, 2) = ji[0]/ I(0, 0); |
| 499 |
|
|
| 500 |
< |
skewMat(2, 0) =ji[1] /I(1, 1); |
| 501 |
< |
skewMat(2, 1) = -ji[0]/I(0, 0); |
| 502 |
< |
skewMat(2, 2) = 0; |
| 500 |
> |
skewMat(2, 0) = ji[1] / I(1, 1); |
| 501 |
> |
skewMat(2, 1) = -ji[0] / I(0, 0); |
| 502 |
> |
skewMat(2, 2) = 0; |
| 503 |
|
|
| 504 |
|
velRot = (getA() * skewMat).transpose() * ref; |
| 505 |
|
|
| 506 |
< |
vel =getVel() + velRot; |
| 506 |
> |
vel = getVel() + velRot; |
| 507 |
|
return true; |
| 508 |
|
|
| 509 |
|
} else { |
| 510 |
< |
std::cerr << index << " is an invalid index, current rigid body contains " |
| 510 |
> |
std::cerr << index |
| 511 |
> |
<< " is an invalid index, current rigid body contains " |
| 512 |
|
<< atoms_.size() << "atoms" << std::endl; |
| 513 |
|
return false; |
| 514 |
|
} |
