------------------------------------------------------------
revno: 2650
fixes bug(s): https://launchpad.net/bugs/702296
committer: Anton Gladky <[email protected]>
branch nick: yade
timestamp: Thu 2011-01-13 14:22:41 +0100
message:
1. Closes #702296, if somebody uses rotationengines, please, update!
modified:
pkg/common/KinematicEngines.cpp
--
lp:yade
https://code.launchpad.net/~yade-dev/yade/trunk
Your team Yade developers is subscribed to branch lp:yade.
To unsubscribe from this branch go to
https://code.launchpad.net/~yade-dev/yade/trunk/+edit-subscription
=== modified file 'pkg/common/KinematicEngines.cpp'
--- pkg/common/KinematicEngines.cpp 2010-12-21 20:37:08 +0000
+++ pkg/common/KinematicEngines.cpp 2011-01-13 13:22:41 +0000
@@ -103,7 +103,9 @@
b->state->angVel+=rotationAxis*angularVelocity;
if(rotateAroundZero){
const Vector3r l=b->state->pos-zeroPoint;
- b->state->vel+=b->state->angVel.cross(l);
+ Quaternionr q(AngleAxisr(angularVelocity*scene->dt,rotationAxis));
+ Vector3r newPos=q*l+zeroPoint;
+ b->state->vel+=Vector3r(newPos-b->state->pos)/scene->dt;
}
}
}
_______________________________________________
Mailing list: https://launchpad.net/~yade-dev
Post to : [email protected]
Unsubscribe : https://launchpad.net/~yade-dev
More help : https://help.launchpad.net/ListHelp
