![]() |
00001 // ArticulatedComponent.cpp: implementation of the ArticulatedComponent class. 00002 // 00004 00005 #include "ArticulatedComponent.h" 00006 #include "purgeContainer.h" 00007 00009 // Construction/Destruction 00011 00012 ArticulatedComponent::ArticulatedComponent(std::string label) : 00013 ComposedPhysicalObject(label) 00014 { 00015 } 00016 00017 ArticulatedComponent::~ArticulatedComponent(){ 00018 deleteK(); 00019 } 00020 00021 void ArticulatedComponent::computeIStar0(){ 00022 real rx,ry; 00023 rx=m*s.x; 00024 ry=-m*s.y; 00025 IStar0.setRow(1, I, ry, rx); 00026 IStar0.setRow(2, ry, m, 0.0f); 00027 IStar0.setRow(3, rx, 0.0f, m); 00028 IStar=IStar0; 00029 } 00030 00031 void ArticulatedComponent::deleteK(){ 00032 purgeContainer(K); 00033 }
![]() |
Thyrix homepage Users' guide
(C) Arxia 2004-2005