NTRT Simulator
Version: Master
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Classes | |
struct | Config |
Public Member Functions | |
CordeModel (btVector3 pos1, btVector3 pos2, btQuaternion quat1, btQuaternion quat2, CordeModel::Config &Config) | |
void | step (btScalar dt) |
Definition at line 39 of file CordeModel.h.
CordeModel::CordeModel | ( | btVector3 | pos1, |
btVector3 | pos2, | ||
btQuaternion | quat1, | ||
btQuaternion | quat2, | ||
CordeModel::Config & | Config | ||
) |
A constructor which assumes uniformally distributed mass points and rotation pos1 and pos2 specify the start and end points of the rod. quat1 and quat2 need to be computed based on the torsion in the rod. Note that if there is neither bending nor torsion one can say quat1 = quat2 = btQuaternion((pos2 - pos1).normalize, 0) (axis-angle constructor)
Definition at line 84 of file CordeModel.cpp.