public override void AddTorque(double torqueAxis1, double torqueAxis2) { Vector3d hingeAxis = ShapeA.RotationMatrix * HingeAxis; Vector3d torque = hingeAxis * torqueAxis1; ShapeA.SetTorque(ShapeA.TorqueValue + torque); ShapeB.SetTorque(ShapeB.TorqueValue - torque); }
public void AddTorqueShapeB(double torqueAxis1, double torqueAxis2) { Vector3d hingeAxis = GetHingeAxis(); Vector3d rotationAxis = GetRotationAxis(); Vector3d torque = rotationAxis * torqueAxis2 + hingeAxis * torqueAxis1; ShapeB.SetTorque(ShapeB.TorqueValue + torque); }