TEFUNC void computeCorrectValuesForOne() {
simulationTime += interval;
double scalar = exp(lambda * simulationTime);
correctPosition = scalar * positionInit;
Vec3 axis;
float angle;
orientationInit.getAxisAngle(axis, angle);
correctOrientation = Quaternion(scalar * angle, axis);
correctAngularVelocity = scalar * angularVelocityInit;
referenceBody->setPosition(correctPosition);
referenceBody->setVelocity(correctVelocity);
referenceBody->setOrientation(correctOrientation);
referenceBody->setAngularVelocity(correctAngularVelocity);
referenceBody->getOrientation().getAxisAngle(axis, angle);
correctRotationAxis = axis;
correctRotationAngle = angle;
cout << "Correct Values:" << endl
<< " Position: " << correctPosition << endl
<< " Velocity: " << correctVelocity << endl
<< " Orientation: " << correctOrientation << endl
<< " AngularVelocity: " << correctAngularVelocity << endl
<< " RotationAngle: " << correctRotationAngle << endl
<< " RotationAxis: " << correctRotationAxis
<< endl << endl;
}
TEFUNC void computeCorrectValuesForThree() {
simulationTime += interval;
double scalar = exp(lambda * simulationTime);
Vec3 correctRotation(orientationInit.getEulerRotation() +
lambda * simulationTime *
scalar * angularVelocityInit);
correctPosition = positionInit +
lambda * simulationTime *
scalar * velocityInit;
correctOrientation = Quaternion(correctRotation[0],
correctRotation[1],
correctRotation[2]);
Vec3 axis;
float angle;
referenceBody->getOrientation().getAxisAngle(axis, angle);
correctRotationAxis = axis;
correctRotationAngle = angle;
referenceBody->setPosition(correctPosition);
referenceBody->setVelocity(correctVelocity);
referenceBody->setOrientation(correctOrientation);
referenceBody->setAngularVelocity(correctAngularVelocity);
cout << "Correct Values:" << endl
<< " Position: " << correctPosition << endl
<< " Orientation: " << correctOrientation << endl
<< " RotationAngle: " << correctRotationAngle << endl
<< " RotationAxis: " << correctRotationAxis
<< endl << endl;
}
//! Do update for the RB by useing the second test case
TEFUNC void updateRigidBodyForTwo(RigidBodyPtr body) {
body->setVelocity(lambda * body->getPosition());
body->setAngularVelocity(lambda * body->getOrientation().getEulerRotation());
body->setAngularAcceleration(Vec3(0,0,0));
}
//! Do update for the RB by useing the first test case
TEFUNC void updateRigidBodyForOne(RigidBodyPtr body) {
body->setVelocity(lambda * body->getPosition());
body->setAcceleration(lambda * body->getVelocity());
Vec3 axis;
float angle;
body->getOrientation().getAxisAngle(axis, angle);
Quaternion tmp(lambda * angle, axis);
body->setAngularVelocity(tmp.getEulerRotation());
body->setAngularAcceleration(lambda * body->getAngularVelocity());
}
/**
* \brief Start-Funktion der Testumgebung
*
* Diese Funktion wird einmal beim Starten der Testumgebung
* aufgerufen.
*/
TEFUNC
void initialize(int /*argc*/, char** /*argv*/) {
// --------- Ein wenig Testkram, ist unbedeutetnd -------------
orientationInit.normalize();
Quaternion test(0,M_PI/2,M_PI/2);
cout << test << endl
<< M_PI/2 << endl
<< test.getEulerRotation() << endl;
// exit (0);
//----------------- uhr initialisieren --------------------
timer.init();
// --- Anlegen der Zeiger und Objekte mit denen gearbeitet werden soll ----
RigidBodyPtr body;
GeometryPtr boxGeo;
// Erste id ist null. Wird dann hochgezählt.
Id id(Id::typeBox,0);
// -------------- Einfache Rotation -----------
//Euler
id.setNumber(0);
body = rigidBodySystemEuler.create(id);
body->setPosition(positionInit);
body->setMass(massInit);
body->setOrientation(orientationInit);
body->setVelocity(velocityInit);
body->setAngularVelocity(angularVelocityInit);
boxGeo = geometrySystem.createBox(body, boxScaleInit);
boxGeo->setBounciness(0.6);
boxGeo->setColor(Graphics::red);
//Runge-Kutta
id.setNumber(1);
body = rigidBodySystemRunge.create(id);
body->setPosition(Vec3(-300.0, 0.0, 0.0));
body->setPosition(positionInit);
body->setMass(massInit);
body->setOrientation(orientationInit);
body->setVelocity(velocityInit);
body->setAngularVelocity(angularVelocityInit);
boxGeo = geometrySystem.createBox(body, boxScaleInit);
boxGeo->setBounciness(0.6);
boxGeo->setColor(Graphics::blue);
// Verlet-Baltman
id.setNumber(2);
body = rigidBodySystemVerlet.create(id);
body->setPosition(positionInit);
body->setMass(massInit);
body->setOrientation(orientationInit);
body->setVelocity(velocityInit);
body->setAngularVelocity(angularVelocityInit);
boxGeo = geometrySystem.createBox(body, boxScaleInit);
boxGeo->setBounciness(0.6);
boxGeo->setColor(Graphics::green);
referenceBody->setPosition(positionInit);
referenceBody->setMass(massInit);
referenceBody->setOrientation(orientationInit);
referenceBody->setVelocity(velocityInit);
referenceBody->setAngularVelocity(angularVelocityInit);
boxGeo = geometrySystem.createBox(referenceBody, boxScaleInit);
boxGeo->setBounciness(0.6);
boxGeo->setColor(Graphics::yellow);
// ------------- Keine Visosity -------------
rigidBodySystemEuler.disableViscosity();
rigidBodySystemRunge.disableViscosity();
rigidBodySystemVerlet.disableViscosity();
}
