687 |
|
|
688 |
|
double angle; |
689 |
|
double A[3][3], I[3][3]; |
690 |
+ |
int i, j, k; |
691 |
|
|
692 |
|
// use the angular velocities to propagate the rotation matrix a |
693 |
|
// full time step |
695 |
|
sd->getA(A); |
696 |
|
sd->getI(I); |
697 |
|
|
698 |
+ |
if (sd->isLinear()) { |
699 |
+ |
i = sd->linearAxis(); |
700 |
+ |
j = (i+1)%3; |
701 |
+ |
k = (i+2)%3; |
702 |
+ |
|
703 |
+ |
angle = dt2 * ji[j] / I[j][j]; |
704 |
+ |
this->rotate( k, i, angle, ji, A ); |
705 |
+ |
|
706 |
+ |
angle = dt * ji[k] / I[k][k]; |
707 |
+ |
this->rotate( i, j, angle, ji, A); |
708 |
+ |
|
709 |
+ |
angle = dt2 * ji[j] / I[j][j]; |
710 |
+ |
this->rotate( k, i, angle, ji, A ); |
711 |
+ |
|
712 |
+ |
} else { |
713 |
|
// rotate about the x-axis |
714 |
|
angle = dt2 * ji[0] / I[0][0]; |
715 |
|
this->rotate( 1, 2, angle, ji, A ); |
730 |
|
angle = dt2 * ji[0] / I[0][0]; |
731 |
|
this->rotate( 1, 2, angle, ji, A ); |
732 |
|
|
733 |
+ |
} |
734 |
|
sd->setA( A ); |
735 |
|
} |
736 |
|
|