MatSI_ApplyTwist (FUN)¶

FUNCTION MatSI_ApplyTwist

Applies a spatial inertia matrix to a twist vector resulting in a generalized momentum or force vector depending on whether the twist represents a velocity or an acceleration.

InOut:

Scope	Name	Type	Comment
Inout	W	WrenchVec	The resulting generalized momentum or force.
Inout Const	G	MatSI	The spatial inertia matrix.
	T	TwistVec	The generalized velocity or acceleration.