Examples with Wrench maspack.spatialmotion.Wrench used on opensource projects

Example 11 with Wrench

use of maspack.spatialmotion.Wrench in project artisynth_core by artisynth.

the class RigidBody method copy.

@Override
public RigidBody copy(int flags, Map<ModelComponent, ModelComponent> copyMap) {
    RigidBody comp = (RigidBody) super.copy(flags, copyMap);
    // comp.myAttachments = new ArrayList<PointFrameAttachment>();
    // comp.myComponents = new ArrayList<ModelComponent>();
    // comp.indicesValidP = false;
    comp.setDynamic(true);
    comp.mySpatialInertia = new SpatialInertia(mySpatialInertia);
    // comp.myEffectiveInertia = new SpatialInertia (mySpatialInertia);
    PolygonalMesh mesh = getMesh();
    comp.myMeshInfo = new MeshInfo();
    if (mesh != null) {
        PolygonalMesh meshCopy = mesh.copy();
        comp.setMesh(meshCopy, getMeshFileName(), getMeshFileTransform());
        comp.myMeshInfo.myFlippedP = myMeshInfo.myFlippedP;
    } else {
        comp.setMesh(null, null, null);
    }
    // comp.myMarkers =
    // new PointList<FrameMarker> (
    // FrameMarker.class, "markers", "k");
    // comp.add (comp.myMarkers);
    comp.myBodyForce = new Wrench();
    comp.myCoriolisForce = new Wrench();
    comp.myBodyVel = new Twist();
    comp.myBodyAcc = new Twist();
    comp.myQvel = new Quaternion();
    comp.myTmpPos = new Point3d();
    comp.myConnectors = null;
    return comp;
}