55 |
|
|
56 |
|
pot_ = p; |
57 |
|
force_ = frc * scaleFactor_; |
58 |
< |
restInfo_[rtDisplacement] = std::make_pair(r,p); |
58 |
> |
if (printRest_) restInfo_[rtDisplacement] = std::make_pair(r,p); |
59 |
|
} |
60 |
|
} |
61 |
|
|
87 |
|
p = kTwist_ * (1.0 - cos(dTwist) ); |
88 |
|
pot_ += p; |
89 |
|
tBody -= dVdtwist * V3Z; |
90 |
< |
restInfo_[rtTwist] = std::make_pair(twistAngle, p); |
90 |
> |
if (printRest_) restInfo_[rtTwist] = std::make_pair(twistAngle, p); |
91 |
|
} |
92 |
|
|
93 |
|
if (restType_ & rtSwingX){ |
96 |
|
p = 0.25 * kSwingX_ * (1.0 - cos(2.0 * dSwingX)); |
97 |
|
pot_ += p; |
98 |
|
tBody -= dVdswingX * V3X; |
99 |
< |
restInfo_[rtSwingX] = std::make_pair(swingX, p); |
99 |
> |
if (printRest_) restInfo_[rtSwingX] = std::make_pair(swingX, p); |
100 |
|
} |
101 |
|
|
102 |
|
if (restType_ & rtSwingY){ |
105 |
|
p = 0.25 * kSwingY_ * (1.0 - cos(2.0 * dSwingY)); |
106 |
|
pot_ += p; |
107 |
|
tBody -= dVdswingY * V3Y; |
108 |
< |
restInfo_[rtSwingY] = std::make_pair(swingY, p); |
108 |
> |
if (printRest_) restInfo_[rtSwingY] = std::make_pair(swingY, p); |
109 |
|
} |
110 |
|
|
111 |
|
Vector3d tLab = A.transpose() * tBody; |