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Improved the way body inertia moments are checked if they are zero when updating body quaterions in fix rigid/nve

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Trung Nguyen
2020-05-23 23:52:00 -05:00
parent 5e3fe19756
commit 093f981719
1 changed files with 2 additions and 2 deletions
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src/math_extra.cpp
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@ -258,8 +258,8 @@ void no_squish_rotate(int k, double *p, double *q, double *inertia,
// obtain phi, cosines and sines // obtain phi, cosines and sines
phi = p[0]*kq[0] + p[1]*kq[1] + p[2]*kq[2] + p[3]*kq[3]; phi = p[0]*kq[0] + p[1]*kq[1] + p[2]*kq[2] + p[3]*kq[3];
if (fabs(inertia[k-1]) < 1e-6) phi *= 0.0; phi /= (4.0 * inertia[k-1]);
else phi /= 4.0 * inertia[k-1]; if (!std::isfinite(phi)) phi = 0.0;
c_phi = cos(dt * phi); c_phi = cos(dt * phi);
s_phi = sin(dt * phi); s_phi = sin(dt * phi);