// public void SetRot(double e0, double e1, double e2, double e3)
//{
/* rot.Sete0(e0);
* rot.Sete1(e1);
* rot.Sete2(e2);
* rot.Sete3(e3);
* ChCoordsys_SetRot(m_ChCoordsys, rot.m_ChQuaternion);*/
// }
/* public ChVector TransformLocalToParent(ChVector vec)
* {
* ChVector temp = new ChVector(0, 0, 0);
* temp.m_ChVector = ChCoordsys_TransformLocalToParent(m_ChCoordsys, vec.m_ChVector);
* temp.data[0] = temp.GetX();
* temp.data[1] = temp.GetY();
* temp.data[2] = temp.GetZ();
*
* return temp;
* }*/
/* public ChVector TransformDirectionParentToLocal(ChVector vec)
* {
* ChVector temp = new ChVector(0, 0, 0);
* temp.m_ChVector = ChCoordsys_TransformDirectionParentToLocal(m_ChCoordsys, vec.m_ChVector);
* temp.data[0] = temp.GetX();
* temp.data[1] = temp.GetY();
* temp.data[2] = temp.GetZ();
*
* return temp;
* }*/
/* public ChVector TransformDirectionLocalToParent(ChVector vec)
* {
* ChVector temp = new ChVector(0, 0, 0);
* temp.m_ChVector = ChCoordsys_TransformDirectionLocalToParent(m_ChCoordsys, vec.m_ChVector);
* temp.data[0] = temp.GetX();
* temp.data[1] = temp.GetY();
* temp.data[2] = temp.GetZ();
*
* return temp;
* }*/
// FUNCTIONS FOR COORDINATE TRANSFORMATIONS
/// This function transforms a point from the local coordinate
/// system to the parent coordinate system. Relative position of local respect
/// to parent is given by this coordys, i.e. 'origin' translation and 'alignment' quaternion.
/// \return The point in parent coordinate, as parent=origin +q*[0,(local)]*q'
public ChVector TransformLocalToParent(ChVector local)
{
return(pos + rot.Rotate(local));
}
