/** * 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(FrameTuple3DReadOnly gravity) { gravity.checkReferenceFrameMatch(inertialFrame); setGravitionalAcceleration((Tuple3DReadOnly) 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(FrameTuple3DReadOnly gravity) { gravity.checkReferenceFrameMatch(input.getInertialFrame()); setGravitionalAcceleration((Tuple3DReadOnly) 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(FrameTuple3DReadOnly gravity) { gravity.checkReferenceFrameMatch(input.getInertialFrame()); setGravitionalAcceleration((Tuple3DReadOnly) gravity); }
/** * Sets reference frame, position, and orientation. * * @param position the tuple with the new position coordinates. Not modified. * @param orientation the new orientation. Not modified. * @throws ReferenceFrameMismatchException if {@code position} and {@code orientation} are not * expressed in the same reference frame. */ default void setIncludingFrame(FrameTuple3DReadOnly position, FrameOrientation3DReadOnly orientation) { position.checkReferenceFrameMatch(orientation); setReferenceFrame(position.getReferenceFrame()); set((Tuple3DReadOnly) position, (Orientation3DReadOnly) orientation); }