| 42 |
|
#include <math.h> |
| 43 |
|
#include "primitives/RigidBody.hpp" |
| 44 |
|
#include "utils/simError.h" |
| 45 |
+ |
#include "utils/NumericConstant.hpp" |
| 46 |
|
namespace oopse { |
| 47 |
|
|
| 48 |
|
RigidBody::RigidBody() : StuntDouble(otRigidBody, &Snapshot::rigidbodyData), inertiaTensor_(0.0){ |
| 511 |
|
simError(); |
| 512 |
|
} |
| 513 |
|
|
| 514 |
< |
euler[0] = ats->getEulerPhi(); |
| 515 |
< |
euler[1] = ats->getEulerTheta(); |
| 516 |
< |
euler[2] = ats->getEulerPsi(); |
| 514 |
> |
euler[0] = ats->getEulerPhi() * NumericConstant::PI /180.0; |
| 515 |
> |
euler[1] = ats->getEulerTheta() * NumericConstant::PI /180.0; |
| 516 |
> |
euler[2] = ats->getEulerPsi() * NumericConstant::PI /180.0; |
| 517 |
|
|
| 518 |
|
RotMat3x3d Atmp(euler); |
| 519 |
|
refOrients_.push_back(Atmp); |