Files changed (1)
+ * Joint Space Inertia Matrix does not get cleared anymore when calling CompositeRigidBodyAlgorithm
+ * added energy computations Utils::CalcCenterOfMass, Utils::CalcPotentialEnergy, Utils::CalcKineticEnergy, and Utils::CalcAngularMomentum.
* 06 November 2013: New version 2.2.2: adjusted Body default constructor (inertia matrix now 3x3 identity instead of zero matrix)
* 28 October 2013: New version 2.2.0: added support for spherical joints that do not suffer from joint singularities