// calculate the angular acceleration of a torque (which is calculated with calculate torque)
// used to calculate the angular acceleration of a body when a force pulls on it
// derivation of formula:
// https://en.wikiversity.org/wiki/Physics_equations/Impulse,_momentum,_and_motion_about_a_fixed_axis
// tau = I * alpha | * I^(-1)
// alpha = tau * (I^(-1))
public static SpatialVectorDouble calculateRotationalAcceleration(ChangeCallbackCalculateInverse inertiaTensorAndInverse, SpatialVectorDouble torque)
{
return(new SpatialVectorDouble(inertiaTensorAndInverse.getInverse() * torque.asMatrix));
}
public static SpatialVectorDouble calcAngularAccelerationOfRigidBodyForAppliedForce(ChangeCallbackCalculateInverse inertiaTensor, SpatialVectorDouble objectLocalPositionOfForce, SpatialVectorDouble objectLocalForce)
{
SpatialVectorDouble appliedTorque = Angular.calculateTorque(objectLocalPositionOfForce, objectLocalForce);
SpatialVectorDouble angularAcceleration = Angular.calculateRotationalAcceleration(inertiaTensor, appliedTorque);
return(angularAcceleration);
}
