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Missed changed file somehow, oops.

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andy 2007-01-10 19:04:59 +00:00
parent 5aa142ee5f
commit bb6010f39c
1 changed files with 10 additions and 0 deletions
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10
src/FDM/YASim/RigidBody.cpp
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@ -204,4 +204,14 @@ void RigidBody::getAngularAccel(float* accelOut)
Math::vmul33(_invI, v, v); // v = invI*(tau + (omega X I*omega)) Math::vmul33(_invI, v, v); // v = invI*(tau + (omega X I*omega))
} }
void RigidBody::getInertiaMatrix(float* inertiaOut)
{
// valid only after a call to RigidBody::recalc()
// See comment at top of RigidBody.hpp on units.
for(int i=0;i<9;i++)
{
inertiaOut[i] = _tI[i];
}
}
}; // namespace yasim }; // namespace yasim