259 |
|
r[0] = (A[0][0] * rb[0]) + (A[1][0] * rb[1]) + (A[2][0] * rb[2]); |
260 |
|
r[1] = (A[0][1] * rb[0]) + (A[1][1] * rb[1]) + (A[2][1] * rb[2]); |
261 |
|
r[2] = (A[0][2] * rb[0]) + (A[1][2] * rb[1]) + (A[2][2] * rb[2]); |
262 |
+ |
|
263 |
+ |
} |
264 |
+ |
|
265 |
+ |
double RigidBody::getZangle( ){ |
266 |
+ |
return zAngle; |
267 |
+ |
} |
268 |
+ |
|
269 |
+ |
void RigidBody::setZangle( double zAng ){ |
270 |
+ |
zAngle = zAng; |
271 |
+ |
} |
272 |
|
|
273 |
+ |
void RigidBody::addZangle( double zAng ){ |
274 |
+ |
zAngle += zAng; |
275 |
|
} |
276 |
|
|
277 |
|
void RigidBody::calcRefCoords( ) { |