//! Do update for the RB by useing the second test case
TEFUNC void updateRigidBodyForTwo(RigidBodyPtr body) {
body->setVelocity(lambda * body->getPosition());
body->setAngularVelocity(lambda * body->getOrientation().getEulerRotation());
body->setAngularAcceleration(Vec3(0,0,0));
}
//! Do update for the RB by useing the second test case
TEFUNC void updateRigidBodyForThree(RigidBodyPtr body) {
body->setAcceleration(lambda * body->getVelocity());
body->setAngularAcceleration(lambda * body->getAngularVelocity());
cout << "Accel: " << body->getAcceleration() << endl;
}
//! Do update for the RB by useing the first test case
TEFUNC void updateRigidBodyForOne(RigidBodyPtr body) {
body->setVelocity(lambda * body->getPosition());
body->setAcceleration(lambda * body->getVelocity());
Vec3 axis;
float angle;
body->getOrientation().getAxisAngle(axis, angle);
Quaternion tmp(lambda * angle, axis);
body->setAngularVelocity(tmp.getEulerRotation());
body->setAngularAcceleration(lambda * body->getAngularVelocity());
}
