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rigidBodySolver: Updated comments

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This commit is contained in:
Henry Weller
2016-04-12 22:23:04 +01:00
parent a0170df6c1
commit b66675ed58
1 changed files with 4 additions and 4 deletions
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8
src/rigidBodyDynamics/rigidBodySolvers/rigidBodySolver/rigidBodySolver.C
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@ -64,22 +64,22 @@ void Foam::RBD::rigidBodySolver::correctQuaternionJoints()
if (model_.joints()[i].unitQuaternion())
{
// Calculate the change in the normalized quaternion axis
// Calculate the change in the unit quaternion
vector dv((q().block<vector>(qi) - q0().block<vector>(qi)));
scalar magDv = mag(dv);
if (magDv > SMALL)
{
// Calculate the quaternion corresponding to the change
// Calculate the unit quaternion corresponding to the change
quaternion dQuat(dv/magDv, cos(magDv), true);
// Transform the previous time quaternion
// Transform the previous time unit quaternion
quaternion quat
(
normalize(model_.joints()[i].unitQuaternion(q0())*dQuat)
);
// Update the joint state
// Update the joint unit quaternion
model_.joints()[i].unitQuaternion(quat, q());
}
}