I'm having an issue with rotating objects. I created some code that makes
a body and sets it's rotational velocity. When I get the rotational
velocity, it is reduced by a factor of four. Any idea what's going on?
Here's the code:
#include "chrono/physics/ChBody.h"
#include "chrono/physics/ChSystemNSC.h"
#include "chrono_irrlicht/ChVisualSystemIrrlicht.h"
#include "chrono/assets/ChVisualMaterial.h"
#include "chrono/assets/ChColor.h"
#include "chrono/core/ChCoordsys.h"
#include "chrono/core/ChTypes.h"
#include "chrono/geometry/ChSphere.h"
#include "chrono/core/ChRotation.h"
int main()
{
double rot_angle = 50.0 * chrono::CH_DEG_TO_RAD;
// Make a red Sphere and a Green Box
auto the_body = std::make_shared<chrono::ChBody>();
chrono::ChFramed box_frame(chrono::ChVector3d(3.0, 2.3, 1.778), 0);
// Set the physical properties of the box.
the_body->SetCoordsys(chrono::ChCoordsys(box_frame.GetCoordsys()));
the_body->SetAngVelLocal(chrono::ChVector3d(rot_angle, 0, 0));
the_body->SetRotDt2(chrono::QuatFromAngleX(0));
std::cout << "Rotation angle should be " << rot_angle << std::endl;
std::cout << "Prior angular Velocity is " << the_body->GetAngVelLocal()
<< std::endl;
std::cout << "The Ratio is " << rot_angle /
(the_body->GetAngVelLocal()[0]) << std::endl;
return 0;
}
And here's the output:
Rotation angle should be 0.872665
Prior angular Velocity is 0.218166 0 0
The Ratio is 4
Why isn't the rotation equal to what I'm setting it to?
Thanks,
Andy
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