public Screw project(Projector projector, bool toFinalBase = true)
{
FloatVector screwWrench = this.getWrench();
FloatVector screwTwist = this.getTwist();
screwWrench = projector.project(screwWrench, toFinalBase);
screwTwist = projector.project(screwTwist, toFinalBase);
Screw screw = Screw.fromWrenchAndTwist(screwWrench, screwTwist, projector.project(this.aplicationPoint, toFinalBase));
return(screw);
}
public Screw changeApplicationPoint(FloatVector point)
{
if (this.aplicationPoint == null)
{
throw new NoApplicationPointException();
}
FloatVector wrench = this.getWrench();
FloatVector twist = this.getTwist();
FloatVector oldPoint = this.aplicationPoint;
FloatVector newPoint = point;
twist = twist.add(newPoint.substract(oldPoint).vectorialProduct(wrench));
return(Screw.fromWrenchAndTwist(wrench, twist, newPoint));
}