void LinearBody::UpdateForces()
{
// BOOKKEEPING
// Clean up from last force calculation and precalculate some helpful values
f_clear();
// Precalculate some helpful values into obect-wide variables
f_precalc();
// FORCE APPLICATORS
fa_linearSprings();
fa_torques();
fa_drag();
fa_friction();
// SET ACCELERATION GIVEN NEW FORCES: a = f/m
for (ALLNODES_i) {
nodes[i].a.x = (nodes[i].ff.x + nodes[i].fd.x + nodes[i].ft.x + nodes[i].fs.x)/nodeMass;
nodes[i].a.y = (nodes[i].ff.y + nodes[i].fd.y + nodes[i].ft.y + nodes[i].fs.y)/nodeMass;
}
}
main(int argc, char *argv[])
{
FILE* out;
FILE* pack;
s_main_head mhead;
s_pack_head phead;
s_file_rec rec[20];
s_file_rec frec;
t_dword len, cksum=0, i=0,j;
f_clear(&mhead,sizeof(s_main_head));
f_clear(&phead,sizeof(s_pack_head));
f_clear(rec,sizeof(s_file_rec)*20);
if (argc < 2)
printf("eospack outfile [firm version]");
if (argc > 2)
strcpy(mhead.version, argv[2]);
else
strcpy(mhead.version, "eos test firm1");
if ((out = fopen(argv[1], "wb")) == NULL) {
printf("Cant't open file name %s\n", argv[1]);
exit(-1);
}
if ((pack = fopen("tmp.pack", "wb+")) == NULL) {
printf("Cant't open file name tmp.pack\n");
exit(-1);
}
printf("File to write: %s\n", argv[1]);
printf("Writing pack\n");
cksum = 0;
if (f_add(&cksum, &(rec[i]), pack, 8, "firm", "MAIN_FIRMWARE")) i++;
if (f_add(&cksum, &(rec[i]), pack, 8, "ver", "FirmwareVersion")) i++;
fseek(pack, 0, SEEK_SET);
phead.tableOffset = sizeof(s_pack_head);
phead.rec_num = i;
phead.tableLenght = i*sizeof(s_file_rec);
phead.packOffset = phead.tableLenght+phead.tableOffset;
for (j=0; j<i; j++)
{
rec[j].Offset = phead.packLenght + phead.packOffset;
phead.packLenght += rec[j].lenght;
cksum += f_cksum(&(rec[j]), sizeof(s_file_rec));
}
phead.cksum = CK(cksum + f_cksum(&phead,sizeof(s_pack_head)));
printf("Writing main\n");
cksum=0;
len=0;
mhead.modelID= 0x80000236;
mhead.cksum= 0x00000000;
mhead.firstOffset = sizeof(s_main_head);
fwrite(&mhead, sizeof(s_main_head), 1, out);
len =f_add(&cksum, &frec, out, 0, "loader", "LOADER");
mhead.secondOffset = mhead.firstOffset + len;
fwrite (&phead, sizeof(s_pack_head), 1, out);
fwrite (rec, sizeof(s_file_rec), phead.rec_num, out);
cksum += f_filecpy(&frec, out, pack);
mhead.cksum = CK(cksum +
f_cksum(&mhead, sizeof(s_main_head)) +
f_cksum(&phead, sizeof(s_pack_head)) +
f_cksum(rec, sizeof(s_file_rec)*phead.rec_num));
fseek(out, 0, SEEK_SET);
fwrite(&mhead, sizeof(s_main_head), 1, out);
fclose(pack);
fclose(out);
exit(0);
}
