[ViewVC] Diff of: group/trunk/OOPSE-2.0/test/brains/RigidBody.cpp

Comparing trunk/OOPSE-2.0/test/brains/RigidBody.cpp (file contents):
Revision 1640 by tim, Sat Oct 23 23:09:46 2004 UTC vs.
Revision 1682 by tim, Thu Oct 28 22:34:01 2004 UTC

#	Line 31 \| Line 31 \| Mat3x3d RigidBody::getI() {
31
32		}
33
34	+	void RigidBody::setPrevA(const RotMat3x3d& a) {
35	+	(snapshotMan_->getPrevSnapshot())->storage_->aMat[localIndex_] = a;
36	+	(snapshotMan_->getPrevSnapshot())->storage_->unitVector[localIndex_] = a.inverse() * sU_.getColum(2);
37	+	}
38	+
39	+
40	+	void RigidBody::setA(const RotMat3x3d& a) {
41	+	(snapshotMan_->getCurrentSnapshot())->storage_->aMat[localIndex_] = a;
42	+	(snapshotMan_->getCurrentSnapshot())->storage_->unitVector[localIndex_] = a.inverse() * sU_.getColum(2);
43	+	}
44	+
45	+	void RigidBody::setA(const RotMat3x3d& a, int snapshotNo) {
46	+	(snapshotMan_->getSnapshot(snapshotNo))->storage_->aMat[localIndex_] = a;
47	+	(snapshotMan_->getSnapshot(snapshotNo))->storage_->unitVector[localIndex_] = a.inverse() * sU_.getColum(2);
48	+	}
49	+
50		Mat3x3d RigidBody::getI() {
51		return inertiaTensor_;
52		}

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