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3 commits

Author SHA1 Message Date
Henry Weller
bc70e36915 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
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
Henry Weller
4a7f5ed19a applications/test/rigidBodyDynamics/sphericalJoint: Test for the quaternion-based spherical joint 2016-04-12 16:37:52 +01:00