43 |
|
double getMass( void ) { return mass; } |
44 |
|
|
45 |
|
void printAmatIndex( void ); |
46 |
< |
void setEulerAngles( double phi, double theta, double psi ); |
46 |
> |
void setEuler( double phi, double theta, double psi ); |
47 |
|
void getQ( double the_q[4] ); // get the quanternions |
48 |
|
void setQ( double the_q[4] ); |
49 |
|
|
53 |
|
void getJ( double theJ[3] ); |
54 |
|
void setJ( double theJ[3] ); |
55 |
|
|
56 |
+ |
virtual void setType(char* type) {strcpy(rbName, type);} |
57 |
+ |
virtual char* getType() { return rbName;} |
58 |
+ |
|
59 |
|
void getTrq( double theT[3] ); |
60 |
|
void addTrq( double theT[3] ); |
61 |
|
|
83 |
|
// utility routines |
84 |
|
|
85 |
|
void findCOM( void ); |
83 |
– |
void findOrient( void ); |
86 |
|
|
87 |
|
protected: |
88 |
|
|
100 |
|
vector<vec3> refCoords; |
101 |
|
vector<mat3x3> refOrients; |
102 |
|
|
103 |
< |
bool com_good; |
102 |
< |
bool forces_good; |
103 |
< |
bool precalc_done; |
104 |
< |
bool orient_good; |
103 |
> |
char rbName[100]; //it will eventually be converted into string |
104 |
|
}; |
105 |
|
|
106 |
|
#endif |