70 |
|
|
71 |
|
RotMat3x3d temp = A * refA_.transpose(); |
72 |
|
|
73 |
+ |
Vector3d euler = temp.toEulerAngles(); |
74 |
+ |
|
75 |
|
Quat4d quat = temp.toQuaternion(); |
76 |
|
|
77 |
|
RealType twistAngle; |
80 |
|
|
81 |
|
quat.toSwingTwist(swingX, swingY, twistAngle); |
82 |
|
|
83 |
+ |
|
84 |
|
RealType p; |
85 |
|
Vector3d tTwist, tSwing; |
86 |
|
|
87 |
|
if (restType_ & rtTwist){ |
88 |
< |
RealType dTwist = twistAngle - twist0_; |
89 |
< |
RealType dVdtwist = kTwist_ * sin(dTwist); |
90 |
< |
p = kTwist_ * (1.0 - cos(dTwist) ); |
88 |
> |
RealType dTwist = twistAngle - twist0_; |
89 |
> |
/// RealType dVdtwist = kTwist_ * sin(dTwist); |
90 |
> |
/// p = kTwist_ * (1.0 - cos(dTwist) ); |
91 |
> |
RealType dVdtwist = kTwist_ * dTwist; |
92 |
> |
p = 0.5 * kTwist_ * dTwist * dTwist; |
93 |
|
pot_ += p; |
94 |
|
tBody -= dVdtwist * V3Z; |
95 |
|
if (printRest_) restInfo_[rtTwist] = std::make_pair(twistAngle, p); |
97 |
|
|
98 |
|
if (restType_ & rtSwingX){ |
99 |
|
RealType dSwingX = swingX - swingX0_; |
100 |
< |
RealType dVdswingX = kSwingX_ * 0.5 * sin(2.0 * dSwingX); |
101 |
< |
p = 0.25 * kSwingX_ * (1.0 - cos(2.0 * dSwingX)); |
100 |
> |
/// RealType dVdswingX = kSwingX_ * 0.5 * sin(2.0 * dSwingX); |
101 |
> |
/// p = 0.25 * kSwingX_ * (1.0 - cos(2.0 * dSwingX)); |
102 |
> |
RealType dVdswingX = kSwingX_ * dSwingX; |
103 |
> |
p = 0.5 * kSwingX_ * dSwingX * dSwingX; |
104 |
|
pot_ += p; |
105 |
|
tBody -= dVdswingX * V3X; |
106 |
|
if (printRest_) restInfo_[rtSwingX] = std::make_pair(swingX, p); |
108 |
|
|
109 |
|
if (restType_ & rtSwingY){ |
110 |
|
RealType dSwingY = swingY - swingY0_; |
111 |
< |
RealType dVdswingY = kSwingY_ * 0.5 * sin(2.0 * dSwingY); |
112 |
< |
p = 0.25 * kSwingY_ * (1.0 - cos(2.0 * dSwingY)); |
111 |
> |
/// RealType dVdswingY = kSwingY_ * 0.5 * sin(2.0 * dSwingY); |
112 |
> |
/// p = 0.25 * kSwingY_ * (1.0 - cos(2.0 * dSwingY)); |
113 |
> |
RealType dVdswingY = kSwingY_ * dSwingY; |
114 |
> |
p = 0.5 * kSwingX_ * dSwingY * dSwingY; |
115 |
|
pot_ += p; |
116 |
|
tBody -= dVdswingY * V3Y; |
117 |
|
if (printRest_) restInfo_[rtSwingY] = std::make_pair(swingY, p); |