b2Vec2 composite_body::get_com_linear_velocity() const
{
b2Vec2 com_vel(0.0f, 0.0f);
float sum_mass = 0.0f;
for(b2Body const* b : m_bodies)
{
float mass = b->GetMass();
com_vel += mass * b->GetLinearVelocity();
sum_mass += mass;
}
return (1.0f / sum_mass) * com_vel;
}
std::vector<double> centerofmass_vel(int type)
{
/*center of mass velocity scaled with time_step*/
std::vector<double> com_vel (3);
int i, j;
int count = 0;
updatePartCfg(WITHOUT_BONDS);
for (j=0; j<n_part; j++) {
if (type == partCfg[j].p.type) {
for (i=0; i<3; i++) {
com_vel[i] += partCfg[j].m.v[i];
}
count++;
}
}
for (i=0; i<3; i++) {
com_vel[i] /= count;
}
return com_vel;
}