void RigidBody::addForceAtBodyPoint(const Mat<float>& force, const Mat<float>& pointL)
{
/*
addForce(force);
addTorque( crossproductV( pointW-, force) );
*/
Mat<float> pointW( this->getPointInWorld(pointL) );
Mat<float> forceW( this->getVectorInWorld(force) );
this->addForceAtWorldPoint(forceW, pointW);
}
#include <vector>
#include <set>
#include <fstream>
#include <memory>
#include <bitset>
class pointW{
public:
char value;
char weight;
std::set<std::string> wordSet;
std::vector<std::shared_ptr<pointW>> branch;
};
pointW first = pointW();//("0","0");
std::vector<std::string> answers;
int longestAnagramLength;
void isWordinTree(pointW Node, std::string str)
{
if (str.empty())
{
if (Node.wordSet.empty())
{
return;// false;
}
else
{
for(auto& c: Node.wordSet)
void RigidBody::addForceWorldAtBodyPoint(const Mat<float>& forceW, const Mat<float>& pointL)
{
Mat<float> pointW( this->getPointInWorld(pointL) );
this->addForceAtWorldPoint(forceW, pointW);
}
void RigidBody::addForceLocalAtBodyPoint(const Mat<float>& forceL, const Mat<float>& pointL)
{
Mat<float> pointW( this->getPointInWorld(pointL) );
Mat<float> forceW( this->getVectorInWorld(forceL) );
this->addForceAtWorldPoint(forceW, pointW);
}
