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Is anybody uses clumps for now?
I don't, but I would like to soon.
Seems that clumps incorrectly implemented now.
For example, in NewtonDampedLaw.cpp line 28:
00028 const Vector3r& m=ncb->bex.getTorque(memberId); const
so m and f in global coord. But line 31:
clumpRBP in local clumps coord.
I would not be surprised to find mistakes or inconsistencies here and
there as I think Vaclav developped the framework but did not really use
it for now.
If nothing changed since last time we discussed that in Grenoble, you
could also find the definition of clumps inertia a bit weird : it is the
inertia of a sphere of equivalent mass (I suggested that for
quasi-static problems it would be an acceptable approximation, and it
was easier to code, so...).
Consequence of that : clumpRBP->inertia is an isotropic matrix,
independant on the coordinate system, and equations above are correct. :)
If somebody takes time to compute the correct inertia matrix, then
inertia will have to be rotated, I agree.
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From: Sergei D., 2009-11-20