KinematicMass KinematicTree::getCOM(NodeID node) const { arma::mat44 nodeToRoot = getTransitionMatrixFromTo(node, m_root->getID()); arma::colvec4 comPos; KinematicMass com = getCOM(); comPos.rows(0, 2) = com.m_position; comPos(3) = 1.; comPos = nodeToRoot * comPos; com.m_position = comPos.rows(0, 2); return com; }
Vec3 getStrandCOM(Strand *s) { return getCOM(s->all, 3*s->numMonomers); }
const dReal* ODE_Particle::getCOM_in_GlobalFrame(dVector3 &result) { GetRelPointPos(getCOM()[0], getCOM()[1],getCOM()[2],result); }