possible bug in SDA.C
 

Hello,

In the member function Foam::septernion Foam::solidBodyMotionFunctions::SDA::transformatio n() const

the transformation is defined like septernion TR(septernion(CofG_ + T)*R*septernion(-CofG_));, it looks because there is a translation and rotation around of CofG, so to back with the translation would be better septernion TR(septernion(CofG_ + T)*R*septernion(-CofG_ - T));

what do you think?

Pablo

The formulation is correct, there is no a bug.

If i add - T there is no translation.

Pablo