/** * Set the gravitational acceleration to account for in this multi-body system. * <p> * The acceleration of the root body is set to the opposite of the gravitational acceleration such * that it gets naturally propagated to the whole system. * </p> * * @param gravity the gravitational linear acceleration, it is usually equal to * {@code (0, 0, -9.81)}. */ public void setGravitionalAcceleration(Tuple3DReadOnly gravity) { SpatialAcceleration rootAcceleration = assignedAccelerations.get(0); rootAcceleration.setToZero(); rootAcceleration.getLinearPart().setAndNegate(gravity); }
/** * Set the gravitational acceleration to account for in this multi-body system. * <p> * The acceleration of the root body is set to the opposite of the gravitational acceleration such * that it gets naturally propagated to the whole system. * </p> * * @param gravity the gravitational linear acceleration, it is usually equal to * {@code (0, 0, -9.81)}. */ public void setGravitionalAcceleration(Tuple3DReadOnly gravity) { SpatialAcceleration rootAcceleration = initialRecursionStep.rigidBodyAcceleration; rootAcceleration.setToZero(); rootAcceleration.getLinearPart().setAndNegate(gravity); }
/** * Set the gravitational acceleration to account for in this multi-body system. * <p> * The acceleration of the root body is set to the opposite of the gravitational acceleration such * that it gets naturally propagated to the whole system. * </p> * * @param gravity the gravitational linear acceleration, it is usually equal to * {@code (0, 0, -9.81)}. */ public void setGravitionalAcceleration(Tuple3DReadOnly gravity) { SpatialAcceleration rootAcceleration = initialRecursionStep.rigidBodyAcceleration; rootAcceleration.setToZero(); rootAcceleration.getLinearPart().setAndNegate(gravity); }