Esempi in C++ (Cpp) per MultibodySystem::realize

Esempio n. 1

File: testConstraints.cpp Progetto: ANKELA/opensim-core

void integrateSimbodySystem(SimTK::MultibodySystem &system, SimTK::State &state)
{
    using namespace SimTK;

    // realize simbody system to velocity stage
    system.realize(state, Stage::Velocity);

    RungeKuttaMersonIntegrator integ(system);
    integ.setAccuracy(integ_accuracy);
    
    TimeStepper ts(system, integ);
    ts.initialize(state);
    ts.stepTo(duration);
    state = ts.getState();
}