//------------------------------------------------------------------------------
// CALC TIME OF NEXT SCHEDULED REPORT
//------------------------------------------------------------------------------
void Subsystem::Guts::
calcTimeOfNextScheduledReport(const State& state, Real& tNextReport,
Array_<EventId>& eventIds,
bool includeCurrentTime) const
{
tNextReport = Infinity;
eventIds.clear();
calcTimeOfNextScheduledReportImpl(state, tNextReport, eventIds,
includeCurrentTime);
}
void testSpeedSimTKArray() {
Array_<int> v;
v.reserve(Inner);
for (int i=0; i < Outer; ++i) {
v.clear();
for (int i=0; i < Inner; ++i)
v.push_back(i);
}
int sum;
for (int i=0; i < Outer; ++i) {
sum = i;
for (unsigned i=0; i < v.size(); ++i)
sum += v[i];
}
cout << "Array sum=" << sum << endl;
}
void PerSubsystemInfo::clearAllocationStack(Array_<T>& stack) {
for (int i=stack.size()-1; i >= 0; --i)
stack[i].deepDestruct(*m_stateImpl);
stack.clear();
}
int main() {
try {
// Create the system.
MultibodySystem system;
SimbodyMatterSubsystem matter(system);
matter.setShowDefaultGeometry(false);
CableTrackerSubsystem cables(system);
GeneralForceSubsystem forces(system);
Force::Gravity gravity(forces, matter, -YAxis, 9.81);
// Force::GlobalDamper(forces, matter, 5);
system.setUseUniformBackground(true); // no ground plane in display
MobilizedBody Ground = matter.Ground(); // convenient abbreviation
// Read in some bones.
PolygonalMesh femur;
PolygonalMesh tibia;
femur.loadVtpFile("CableOverBicubicSurfaces-femur.vtp");
tibia.loadVtpFile("CableOverBicubicSurfaces-tibia.vtp");
femur.scaleMesh(30);
tibia.scaleMesh(30);
// Build a pendulum
Body::Rigid pendulumBodyFemur( MassProperties(1.0, Vec3(0, -5, 0),
UnitInertia(1).shiftFromCentroid(Vec3(0, 5, 0))));
pendulumBodyFemur.addDecoration(Transform(), DecorativeMesh(femur).setColor(Vec3(0.8, 0.8, 0.8)));
Body::Rigid pendulumBodyTibia( MassProperties(1.0, Vec3(0, -5, 0),
UnitInertia(1).shiftFromCentroid(Vec3(0, 5, 0))));
pendulumBodyTibia.addDecoration(Transform(), DecorativeMesh(tibia).setColor(Vec3(0.8, 0.8, 0.8)));
Rotation z180(Pi, YAxis);
MobilizedBody::Pin pendulumFemur( matter.updGround(),
Transform(Vec3(0, 0, 0)),
pendulumBodyFemur,
Transform(Vec3(0, 0, 0)) );
Rotation rotZ45(-Pi/4, ZAxis);
MobilizedBody::Pin pendulumTibia( pendulumFemur,
Transform(rotZ45, Vec3(0, -12, 0)),
pendulumBodyTibia,
Transform(Vec3(0, 0, 0)) );
Real initialPendulumOffset = -0.25*Pi;
Constraint::PrescribedMotion pres(matter,
new Function::Sinusoid(0.25*Pi, 0.2*Pi, 0*initialPendulumOffset), pendulumTibia, MobilizerQIndex(0));
// Build a wrapping cable path
CablePath path2(cables, Ground, Vec3(1, 3, 1), // origin
pendulumTibia, Vec3(1, -4, 0)); // termination
// Create a bicubic surface
Vec3 patchOffset(0, -5, -1);
Rotation rotZ90(0.5*Pi, ZAxis);
Rotation rotX90(0.2*Pi, XAxis);
Rotation patchRotation = rotZ90 * rotX90 * rotZ90;
Transform patchTransform(patchRotation, patchOffset);
Real patchScaleX = 2.0;
Real patchScaleY = 2.0;
Real patchScaleF = 0.75;
const int Nx = 4, Ny = 4;
const Real xData[Nx] = { -2, -1, 1, 2 };
const Real yData[Ny] = { -2, -1, 1, 2 };
const Real fData[Nx*Ny] = { 2, 3, 3, 1,
0, 1.5, 1.5, 0,
0, 1.5, 1.5, 0,
2, 3, 3, 1 };
const Vector x_(Nx, xData);
const Vector y_(Ny, yData);
const Matrix f_(Nx, Ny, fData);
Vector x = patchScaleX*x_;
Vector y = patchScaleY*y_;
Matrix f = patchScaleF*f_;
BicubicSurface patch(x, y, f, 0);
Real highRes = 30;
Real lowRes = 1;
PolygonalMesh highResPatchMesh = patch.createPolygonalMesh(highRes);
PolygonalMesh lowResPatchMesh = patch.createPolygonalMesh(lowRes);
pendulumFemur.addBodyDecoration(patchTransform,
DecorativeMesh(highResPatchMesh).setColor(Cyan).setOpacity(.75));
pendulumFemur.addBodyDecoration(patchTransform,
DecorativeMesh(lowResPatchMesh).setRepresentation(DecorativeGeometry::DrawWireframe));
Vec3 patchP(-0.5,-1,2), patchQ(-0.5,1,2);
pendulumFemur.addBodyDecoration(patchTransform,
DecorativePoint(patchP).setColor(Green).setScale(2));
pendulumFemur.addBodyDecoration(patchTransform,
DecorativePoint(patchQ).setColor(Red).setScale(2));
CableObstacle::Surface patchObstacle(path2, pendulumFemur, patchTransform,
ContactGeometry::SmoothHeightMap(patch));
patchObstacle.setContactPointHints(patchP, patchQ);
patchObstacle.setDisabledByDefault(true);
// Sphere
Real sphRadius = 1.5;
Vec3 sphOffset(0, -0.5, 0);
Rotation sphRotation(0*Pi, YAxis);
Transform sphTransform(sphRotation, sphOffset);
CableObstacle::Surface tibiaSphere(path2, pendulumTibia, sphTransform,
ContactGeometry::Sphere(sphRadius));
Vec3 sphP(1.5,-0.5,0), sphQ(1.5,0.5,0);
tibiaSphere.setContactPointHints(sphP, sphQ);
pendulumTibia.addBodyDecoration(sphTransform,
DecorativeSphere(sphRadius).setColor(Red).setOpacity(0.5));
// Make cable a spring
CableSpring cable2(forces, path2, 50., 18., 0.1);
Visualizer viz(system);
viz.setShowFrameNumber(true);
system.addEventReporter(new Visualizer::Reporter(viz, 1./30));
system.addEventReporter(new ShowStuff(system, cable2, 0.02));
// Initialize the system and state.
system.realizeTopology();
State state = system.getDefaultState();
system.realize(state, Stage::Position);
viz.report(state);
cout << "path2 init length=" << path2.getCableLength(state) << endl;
cout << "Hit ENTER ...";
getchar();
// path1.setIntegratedCableLengthDot(state, path1.getCableLength(state));
// Simulate it.
saveStates.clear(); saveStates.reserve(2000);
// RungeKutta3Integrator integ(system);
RungeKuttaMersonIntegrator integ(system);
// CPodesIntegrator integ(system);
// integ.setAllowInterpolation(false);
integ.setAccuracy(1e-5);
TimeStepper ts(system, integ);
ts.initialize(state);
ShowStuff::showHeading(cout);
const Real finalTime = 10;
const double startTime = realTime();
ts.stepTo(finalTime);
cout << "DONE with " << finalTime
<< "s simulated in " << realTime()-startTime
<< "s elapsed.\n";
while (true) {
cout << "Hit ENTER FOR REPLAY, Q to quit ...";
const char ch = getchar();
if (ch=='q' || ch=='Q') break;
for (unsigned i=0; i < saveStates.size(); ++i)
viz.report(saveStates[i]);
}
} catch (const std::exception& e) {
cout << "EXCEPTION: " << e.what() << "\n";
}
}
