Mark Olesen
610854af03
STYLE: minor cleanup after merge
2017-09-22 16:25:17 +02:00
Henry Weller
a0170df6c1
rigidBodyDynamics: Removed quaternion counter and index: 'nw', 'wIndex'
...
Replaced with 'unitQuaterion()' virtual function to indicate if the
joint uses a unit quaternion to represent rotation.
2016-04-12 22:17:52 +01:00
Henry Weller
315a1baad3
rigidBodyDynamics: Simplify handling of quaternions by maintaining a unit quaternion in the joint state field 'q'
...
'w' is now obtained from 'v' using the relation w = sqrt(1 - |sqr(v)|)
and 'v' is stored in the joint state field 'q' and integrated in the
usual manner but corrected using quaternion transformations.
2016-04-12 21:44:34 +01:00
Henry Weller
5e6bdeea57
applications/test/rigidBodyDynamics/sphericalJoint: Test for the quaternion-based spherical joint
2016-04-12 16:37:52 +01:00
