scalarField & q()
Return the current joint position and orientation.
const scalarField & q0() const
Return the current joint position and orientation.
Six degree of freedom motion for a rigid body.
const PtrList< joint > & joints() const
Return the list of joints in the model.
bool unitQuaternions() const
Return true if any of the joints using quaternions.
rigidBodySolver(rigidBodyMotion &body)
virtual ~rigidBodySolver()
Destructor.
void correctQuaternionJoints()
Correct the quaternion joints based on the current change in q.