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Use matrix multiplication.
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yeadon/tests/test_solid.py

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@@ -285,8 +285,8 @@ def test_solid():
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sol.set_orientation(position, C, True)
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testing.assert_allclose(sol.pos, position)
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testing.assert_allclose(sol._rot_mat, C)
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testing.assert_allclose(sol.end_pos, position + (height * C * array([[0],
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[0], [1]])))
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testing.assert_allclose(sol.end_pos, position + (height * C @
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array([[0], [0], [1]])))
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testing.assert_allclose(sol.inertia, zeros((3, 3)))
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#TODO: complete tests for solid and the remaining classes in solid.py

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