//===========================================================================
void cShapeMatching3dofPointer::applyForces()
{
// check if device is available
if (m_device == NULL)
{
return;
}
// convert force into device local coordinates
cMatrix3d tRot;
m_globalRot.transr(tRot);
tRot.mulr(m_lastComputedGlobalForce, m_lastComputedLocalForce);
if (
(m_waitForSmallForce == false) ||
((!m_forceStarted) && (m_lastComputedLocalForce.lengthsq() <0.000001))
)
{
m_forceStarted = true;
}
// send force to device
if ((m_forceON) && (m_forceStarted))
{
m_device->setForce(m_lastComputedLocalForce);
}
else
{
cVector3d zeroForce(0.0, 0.0, 0.0);
m_device->setForce(zeroForce);
}
}
void CVK::MassPoint::numericIntegration(float d_t)
{
// TODO Aufgabe 4 (a)
// Implementieren Sie das Euler Integrationsverfahren.
mPosition=mPosition+mVelocity*d_t;
mVelocity=mVelocity+(mCurrentForce/mMass)*d_t;
zeroForce();
}
