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ArticulatedComponent.cpp

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00001 // ArticulatedComponent.cpp: implementation of the ArticulatedComponent class.
00002 //
00004 
00005 #include "ArticulatedComponent.h"
00006 #include "purgeContainer.h"
00007 
00009 // Construction/Destruction
00011 
00012 ArticulatedComponent::ArticulatedComponent(std::string label) :
00013     ComposedPhysicalObject(label)
00014 {
00015 }
00016 
00017 ArticulatedComponent::~ArticulatedComponent(){
00018    deleteK();
00019 }
00020 
00021 void ArticulatedComponent::computeIStar0(){
00022    real rx,ry;
00023    rx=m*s.x;
00024    ry=-m*s.y;
00025    IStar0.setRow(1, I, ry,    rx);
00026    IStar0.setRow(2, ry, m,    0.0f);
00027    IStar0.setRow(3, rx, 0.0f, m);
00028    IStar=IStar0;
00029 }
00030 
00031 void ArticulatedComponent::deleteK(){
00032    purgeContainer(K);
00033 }

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