202 |
|
|
203 |
|
info_->getInertiaTensor(inertiaTensor,angularMomentum); |
204 |
|
// We now need the inverse of the inertia tensor. |
205 |
< |
|
205 |
> |
/* |
206 |
|
std::cerr << "Angular Momentum before is " |
207 |
|
<< angularMomentum << std::endl; |
208 |
|
std::cerr << "Inertia Tensor before is " |
209 |
|
<< inertiaTensor << std::endl; |
210 |
+ |
*/ |
211 |
|
|
211 |
– |
|
212 |
|
inertiaTensor =inertiaTensor.inverse(); |
213 |
|
std::cerr << "Inertia Tensor after inverse is " |
214 |
|
<< inertiaTensor << std::endl; |
234 |
|
} |
235 |
|
|
236 |
|
angularMomentum = info_->getAngularMomentum(); |
237 |
+ |
/* |
238 |
|
std::cerr << "Angular Momentum after is " |
239 |
|
<< angularMomentum << std::endl; |
240 |
< |
|
240 |
> |
*/ |
241 |
|
|
242 |
|
} |
243 |
|
|