176 |
|
|
177 |
|
//project the inertial moment of directional atoms into this rigid body |
178 |
|
if (atoms_[i]->isDirectional()) { |
179 |
< |
IAtom += atoms_[i]->getI(); |
180 |
< |
Itmp += refOrients_[i].transpose() * IAtom * refOrients_[i]; |
179 |
> |
//IAtom += atoms_[i]->getI(); |
180 |
> |
Itmp += IAtom; |
181 |
> |
Itmp += refOrients_[i].transpose() * atoms_[i]->getI() * refOrients_[i]; |
182 |
|
} else { |
183 |
|
Itmp += IAtom; |
184 |
|
} |
185 |
|
} |
186 |
|
|
187 |
+ |
std::cout << Itmp <<std::endl; |
188 |
|
//diagonalize |
189 |
|
Vector3d evals; |
190 |
|
Mat3x3d::diagonalize(Itmp, evals, sU_); |