void SimObjBase::setRotation(const Rotation &r)
{
if (dynamics()) { return; }
const dReal *q = r.q();
setQ(q);
}
void SimObjBase::setAxisAndAngle(double ax, double ay, double az, double angle)
{
if (dynamics()) { return; }
Rotation r;
r.setAxisAndAngle(ax, ay, az, angle);
const dReal *q = r.q();
setQ(q);
}
/*!
* @brief It rotates for the specification of the relative angle.
* @param[in] x-axis rotation weather(i of quaternion complex part)
* @param[in] y-axis rotation weather(j of quaternion complex part)
* @param[in] z-axis rotation weather(k of quaternion complex part)
* @param[in] flag for ansolute / relational (1.0=absolute, else=relational)
*/
void SimObjBase::setAxisAndAngle(double ax, double ay, double az, double angle, double direct)
{
// The angle is used now at the relative angle specification.
if (dynamics()) { return; }
Rotation r;
if (direct != 1.0) r.setQuaternion(qw(), qx(), qy(), qz());
// alculate relational angle
r.setAxisAndAngle(ax, ay, az, angle, direct);
const dReal *q = r.q();
setQ(q);
}
void SParts::build(const Vector3d &ov, const Rotation &r, bool dynamics)
{
if (isBody()) {
const dReal *q = r.q();
setPosition(ov);
setQuaternion(q);
}
else {
Vector3d v(m_pos.x(), m_pos.y(), m_pos.z());
v.rotate(r);
v += ov;
setPosition(v);
Rotation rr(r);
rr *= m_rot;
setRotation(rr);
}
enableDynamics(dynamics);
}