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37 return body_.motionState_.Q();
42 return body_.motionState_.v();
47 return body_.motionState_.a();
52 return body_.motionState_.pi();
57 return body_.motionState_.tau();
63 return body_.motionState0_.centreOfRotation();
68 return body_.motionState0_.Q();
74 return body_.motionState0_.v();
80 return body_.motionState0_.a();
86 return body_.motionState0_.pi();
92 return body_.motionState0_.tau();
102 return body_.tConstraints_;
107 return body_.rConstraints_;
119 return body_.rotate(Q0,
pi, deltaT);
129 body_.updateAcceleration(fGlobal, tauGlobal);
tensor rConstraints() const
Rotational constraint tensor.
tensor & Q()
Return the orientation.
const vector & tau0() const
Return the torque at previous time-step.
point & centreOfRotation()
Return the current centre of rotation.
vector & a()
Return non-const access to acceleration.
const vector & v0() const
Return the velocity at previous time-step.
vector & v()
Return non-const access to vector.
const tensor & Q0() const
Return the orientation at previous time-step.
Tuple2< tensor, vector > rotate(const tensor &Q0, const vector &pi, const scalar deltaT) const
Apply rotation tensors to Q0 for the given torque (pi) and deltaT.
const point & centreOfRotation0() const
Return the centre of rotation at previous time-step.
vector & pi()
Return non-const access to angular momentum.
constexpr scalar pi(M_PI)
scalar aDamp() const
Acceleration damping coefficient (for steady-state simulations)
void updateAcceleration(const vector &fGlobal, const vector &tauGlobal)
Update and relax accelerations from the force and torque.
tensor tConstraints() const
Translational constraint tensor.
const vector & pi0() const
Return the angular momentum at previous time-step.
vector & tau()
Return non-const access to torque.
A 2-tuple for storing two objects of dissimilar types. The container is similar in purpose to std::pa...
sixDoFRigidBodyMotion & body_
The rigid body.
const point & centreOfRotation() const
Return access to the centre of mass.
const vector & a0() const
Return the acceleration at previous time-step.