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rigidBodyRestraintI.H
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25 
26 #include "rigidBodyModel.H"
27 
28 // * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
29 
31 (
32  const point& p
33 ) const
34 {
35  return (model_.X0(bodyID_).inv() && spatialVector(Zero, p)).l();
36 }
37 
38 
40 (
41  const point& p
42 ) const
43 {
44  return model_.v(bodyID_, p);
45 }
46 
47 
48 // ************************************************************************* //
spatialVector bodyPointVelocity(const point &p) const
Transform the velocity of the given point on the restrained body.
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
Definition: spatialVector.H:47
static const zero Zero
Definition: zero.H:97
point bodyPoint(const point &p) const
Transform the given point on the restrained body to the global frame.