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#include <math.h> |
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#include "primitives/RigidBody.hpp" |
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#include "utils/simError.h" |
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#include "utils/NumericConstant.hpp" |
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namespace oopse { |
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RigidBody::RigidBody() : StuntDouble(otRigidBody, &Snapshot::rigidbodyData), inertiaTensor_(0.0){ |
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simError(); |
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} |
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euler[0] = ats->getEulerPhi(); |
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euler[1] = ats->getEulerTheta(); |
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euler[2] = ats->getEulerPsi(); |
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euler[0] = ats->getEulerPhi() * NumericConstant::PI /180.0; |
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euler[1] = ats->getEulerTheta() * NumericConstant::PI /180.0; |
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euler[2] = ats->getEulerPsi() * NumericConstant::PI /180.0; |
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RotMat3x3d Atmp(euler); |
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refOrients_.push_back(Atmp); |