コード例 #1
0
void createPlanarSystem(MultibodySystem& system) {
    SimbodyMatterSubsystem& matter = system.updMatterSubsystem();
    GeneralForceSubsystem forces(system);
    Force::UniformGravity gravity(forces, matter, Vec3(0, -1, 0), 0);
    Body::Rigid body(MassProperties(1.0, Vec3(0), Inertia(1)));
    for (int i = 0; i < NUM_BODIES; ++i) {
        MobilizedBody& parent = matter.updMobilizedBody(MobilizedBodyIndex(matter.getNumBodies()-1));
        MobilizedBody::Planar b(parent, Transform(Vec3(0)), body, Transform(Vec3(BOND_LENGTH, 0, 0)));
    }
}
コード例 #2
0
    // Component interface implementation
    void extendAddToSystem(MultibodySystem& system) const override {
        if (system.hasMatterSubsystem()){
            matter = system.updMatterSubsystem();
        }
        else{
            // const Sub& subc = getMemberSubcomponent<Sub>(intSubix);

            SimbodyMatterSubsystem* old_matter = matter.release();
            delete old_matter;
            matter = new SimbodyMatterSubsystem(system);

            GeneralForceSubsystem* old_forces = forces.release();
            delete old_forces;
            forces = new GeneralForceSubsystem(system);

            SimTK::Force::UniformGravity gravity(*forces, *matter, Vec3(0, -9.816, 0));
            fix = gravity.getForceIndex();

            system.updMatterSubsystem().setShowDefaultGeometry(true);
        }
    }
コード例 #3
0
void createCylinderSystem(MultibodySystem& system) {
    SimbodyMatterSubsystem& matter = system.updMatterSubsystem();
    GeneralForceSubsystem forces(system);
    // Skew gravity so moving takes work.
    Force::UniformGravity gravity(forces, matter, Vec3(0, -2, -3));
    for (int i = 0; i < NUM_BODIES; ++i) {
        MobilizedBody& parent = 
            matter.updMobilizedBody(MobilizedBodyIndex(matter.getNumBodies()-1));
        const Real mass = 1 + 0.1*i;
        Body::Rigid body(MassProperties(mass, Vec3(0), mass*UnitInertia(1)));
        MobilizedBody::Cylinder b(parent, Transform(Vec3(.1,.2,.3)), 
                                  body, Transform(Vec3(BOND_LENGTH, 0, 0)));
    }
}