computeB method
Computes the right hand side of the SPOOK equation
Implementation
@override
double computeB(double h) {
final a = this.a;
final b = this.b;
final ni = axisA;
final nj = axisB;
final nixnj = _tmpVec1;
final njxni = _tmpVec2;
final ga = jacobianElementA;
final gb = jacobianElementB;
// Caluclate cross products
ni.cross(nj, nixnj);
nj.cross(ni, njxni);
ga.rotational.copy(njxni);
gb.rotational.copy(nixnj);
final g = math.cos(maxAngle) - ni.dot(nj);
final gW = computeGW();
final giMf = computeGiMf();
final B = -g * a - gW * b - h * giMf;
return B;
}