| 160 | |
| 161 | |
| 162 | inline Foam::vector Foam::RBD::rigidBodyModel::masterPoint |
| 163 | ( |
| 164 | const label bodyID, |
| 165 | const vector& p |
| 166 | ) const |
| 167 | { |
| 168 | if (merged(bodyID)) |
| 169 | { |
| 170 | return |
| 171 | ( |
| 172 | mergedBody(bodyID).masterXT().inv() |
| 173 | && spatialVector(Zero, p) |
| 174 | ).l(); |
| 175 | } |
| 176 | else |
| 177 | { |
| 178 | return p; |
| 179 | } |
| 180 | } |
| 181 | |
| 182 | |
| 183 | inline Foam::spatialVector Foam::RBD::rigidBodyModel::v |