Commit ab76611e authored by David Flavigne's avatar David Flavigne
Browse files

Removed implementation of methods that have disappeared from the ChppBody.

Concerns only installation with --enable-body option.
parent df5d9898
2007/11/08
Removed implementation of methods that have disappeared from the ChppBody.
2007/11/07
Reorganization of header files to solve some compilation problems.
......
......@@ -11,8 +11,6 @@
#include "KineoKCDModel/kppKCDAssembly.h"
#include "KineoModel/kppJointComponent.h"
#include "hppBody.h"
//=============================================================================
ChppBodyShPtr ChppBody::create(std::string inName)
......@@ -405,71 +403,3 @@ void ChppBody::printCollisionStatusFast()
}
//=============================================================================
void ChppBody::mass(double m)
{
_mass = m;
}
//=============================================================================
double ChppBody::mass()
{
return _mass;
}
//=============================================================================
void ChppBody::intertia(std::vector<double> i)
{
_inertia = i;
}
//=============================================================================
std::vector<double> ChppBody::inertia()
{
return _inertia;
}
//=============================================================================
void ChppBody::relComVec(double x, double y, double z)
{
_relComVec = CkitVect3(x, y, z);
}
//=============================================================================
void ChppBody::relComVec(const CkitVect3& vec)
{
_relComVec = CkitVect3(vec);
}
//=============================================================================
const CkitVect3& ChppBody::relComVec() const
{
return _relComVec;
}
//=============================================================================
ktStatus ChppBody::currentComPos(CkitPoint3 &pos)
{
CkwsJointShPtr kwsJoint;
if(!(kwsJoint = joint())){
std::cerr<<" in ChppBody::currentComPos(): for "<<name()<<", joint not attached. "
<<std::endl;
return KD_ERROR;
}
// it should be "point" so that translation is taken into account.
CkitPoint3 relCom(_relComVec);
CkitMat4 currentPos = kwsJoint->currentPosition();
pos = currentPos * relCom;
return KD_OK;
}
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