void PlaneForceField<Rigid3dTypes>::setPlane(const Deriv& normal, Real d)
{
Real n = normal.getVCenter().norm();
planeNormal.beginEdit()->getVCenter() = normal.getVCenter() / n;
planeNormal.endEdit();
planeD.setValue( d / n );
}
void PlaneForceField<Rigid3dTypes>::rotate( Deriv axe, Real angle )
{
defaulttype::Vec3d axe3d(1,1,1); axe3d = axe.getVCenter();
defaulttype::Vec3d normal3d; normal3d = planeNormal.getValue().getVCenter();
defaulttype::Vec3d v = normal3d.cross(axe3d);
if (v.norm2() < 1.0e-10) return;
v.normalize();
v = normal3d * cos ( angle ) + v * sin ( angle );
planeNormal.beginEdit()->getVCenter() = v;
planeNormal.endEdit();
}