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OpenFOAM-6/applications/test
Henry Weller df1cb90dc6 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
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