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 |
|
} |