3 Commits

Author	SHA1	Message	Date
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