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Date:
2005-07-14 04:23
Priority:
3
State:
Open
Submitted by:
Michael Sherman (sherm)
Assigned to:
Michael Sherman (sherm)
Summary:
addExternalForce() & Moment should be recursive

Detailed description
These routines calculate a Jacobian matrix and then multiply the supplied force by its Jacobian. That's expensive! Should be done recursively by sweeping the force down the tree. (And that should happen only once for a whole collection of Cartesian forces.)

Also, addExternalMoment() looks wrong. It takes a point as input but that should not be required for a Moment.

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