| 87 |
|
return inertiaTensor_; |
| 88 |
|
} |
| 89 |
|
|
| 90 |
< |
std::vector<double> RigidBody::getGrad() { |
| 91 |
< |
std::vector<double> grad(6, 0.0); |
| 90 |
> |
std::vector<RealType> RigidBody::getGrad() { |
| 91 |
> |
std::vector<RealType> grad(6, 0.0); |
| 92 |
|
Vector3d force; |
| 93 |
|
Vector3d torque; |
| 94 |
|
Vector3d myEuler; |
| 95 |
< |
double phi, theta, psi; |
| 96 |
< |
double cphi, sphi, ctheta, stheta; |
| 95 |
> |
RealType phi, theta, psi; |
| 96 |
> |
RealType cphi, sphi, ctheta, stheta; |
| 97 |
|
Vector3d ephi; |
| 98 |
|
Vector3d etheta; |
| 99 |
|
Vector3d epsi; |
| 146 |
|
|
| 147 |
|
/**@todo need modification */ |
| 148 |
|
void RigidBody::calcRefCoords() { |
| 149 |
< |
double mtmp; |
| 149 |
> |
RealType mtmp; |
| 150 |
|
Vector3d refCOM(0.0); |
| 151 |
|
mass_ = 0.0; |
| 152 |
|
for (std::size_t i = 0; i < atoms_.size(); ++i) { |
| 167 |
|
Mat3x3d IAtom(0.0); |
| 168 |
|
mtmp = atoms_[i]->getMass(); |
| 169 |
|
IAtom -= outProduct(refCoords_[i], refCoords_[i]) * mtmp; |
| 170 |
< |
double r2 = refCoords_[i].lengthSquare(); |
| 170 |
> |
RealType r2 = refCoords_[i].lengthSquare(); |
| 171 |
|
IAtom(0, 0) += mtmp * r2; |
| 172 |
|
IAtom(1, 1) += mtmp * r2; |
| 173 |
|
IAtom(2, 2) += mtmp * r2; |
| 245 |
|
|
| 246 |
|
} |
| 247 |
|
|
| 248 |
< |
setFrc(frc); |
| 249 |
< |
setTrq(trq); |
| 248 |
> |
addFrc(frc); |
| 249 |
> |
addTrq(trq); |
| 250 |
|
|
| 251 |
|
} |
| 252 |
|
|
