C++ (Cpp) XdirToDxDyDz示例

示例#1

文件： ChLinkDistance.cpp 项目： armanpazouki/chrono

ChCoordsys<> ChLinkDistance::GetLinkRelativeCoords() {
    ChVector<> D2local;
    ChVector<> D2temp = (Vnorm(Body1->TransformPointLocalToParent(pos1) - Body2->TransformPointLocalToParent(pos2)));
    ChVector<> D2rel = Body2->TransformDirectionParentToLocal(D2temp);
    ChVector<> Vx, Vy, Vz;
    ChMatrix33<> rel_matrix;
    XdirToDxDyDz(D2rel, VECT_Y, Vx, Vy, Vz);
    rel_matrix.Set_A_axis(Vx, Vy, Vz);

    Quaternion Ql2 = rel_matrix.Get_A_quaternion();
    return ChCoordsys<>(pos2, Ql2);
}

示例#2

文件： ChLinkDistance.cpp 项目： DavidHammen/chrono

ChCoordsys<> ChLinkDistance::GetLinkRelativeCoords()
{
	ChVector<> D2local;
	ChVector<> D2temp=(Vnorm(Body1->Point_Body2World(&pos1)-Body2->Point_Body2World(&pos2)));
	ChVector<> D2rel = Body2->Dir_World2Body(&D2temp);
	ChVector<> Vx, Vy, Vz;
	ChVector<> Vsingul(VECT_Y);
	ChMatrix33<> rel_matrix;
	XdirToDxDyDz(&D2rel, &Vsingul, &Vx,  &Vy, &Vz);
	rel_matrix.Set_A_axis(Vx,Vy,Vz);

	Quaternion Ql2 = rel_matrix.Get_A_quaternion();
	return ChCoordsys<>(pos2, Ql2); 
}