bool GSystem::calcProductOfInvMassAndMatrix2(RMatrix &invM_A, const RMatrix &A)
{
if ( (size_t)A.RowSize() != pCoordinates.size() ) return false;
invM_A.SetZero(A.RowSize(), A.ColSize());
int i;
std::list<GJoint *>::iterator iter_pjoint;
std::vector<bool> isprescribed(pJoints.size());
// save current info
for (i=0, iter_pjoint = pJoints.begin(); iter_pjoint != pJoints.end(); i++, iter_pjoint++) {
isprescribed[i] = (*iter_pjoint)->isPrescribed();
}
setAllJointsPrescribed(false);
initDynamicsWithZeroGravityAndVelocity();
for (i=0; i<A.ColSize(); i++) {
set_tau(&(A[i*A.RowSize()]));
calcDynamicsWithZeroGravityAndVelocity();
get_ddq(&(invM_A[i*invM_A.RowSize()]));
}
// restore
for (i=0, iter_pjoint = pJoints.begin(); iter_pjoint != pJoints.end(); i++, iter_pjoint++) {
(*iter_pjoint)->setPrescribed(isprescribed[i]);
}
return true;
}
bool GSystem::calcProductOfInvMassAndMatrix(RMatrix &invM_A, const RMatrix &A)
{
if ( (size_t)A.RowSize() != pCoordinates.size() ) return false;
invM_A.SetZero(A.RowSize(), A.ColSize());
int i;
std::list<GJoint *>::iterator iter_pjoint;
std::vector<bool> isprescribed(pJoints.size());
// save current info
for (i=0, iter_pjoint = pJoints.begin(); iter_pjoint != pJoints.end(); i++, iter_pjoint++) {
isprescribed[i] = (*iter_pjoint)->isPrescribed();
}
Vec3 g = getGravity();
// set all joint unprescribed and set zero gravity
setAllJointsPrescribed(false);
setGravity(Vec3(0,0,0));
update_joint_local_info_short();
for (std::list<GBody *>::iterator iter_pbody = pBodies.begin(); iter_pbody != pBodies.end(); iter_pbody++) {
(*iter_pbody)->update_base_joint_info();
(*iter_pbody)->update_T();
(*iter_pbody)->set_eta_zero();
}
for (std::list<GBody *>::reverse_iterator riter_pbody = pBodies.rbegin(); riter_pbody != pBodies.rend(); riter_pbody++) {
(*riter_pbody)->update_aI();
(*riter_pbody)->update_Psi();
(*riter_pbody)->update_Pi();
}
for (i=0; i<A.ColSize(); i++) {
set_ddq(Zeros(pCoordinates.size(),1)); // this isn't necessary for real tree structure systems, but works for the cut joints in closed-loop
set_tau(&(A[i*A.RowSize()]));
for (std::list<GBody *>::reverse_iterator riter_pbody = pBodies.rbegin(); riter_pbody != pBodies.rend(); riter_pbody++) {
(*riter_pbody)->update_aB_zeroV_zeroeta();
(*riter_pbody)->update_beta_zeroeta();
}
for (std::list<GBody *>::iterator iter_pbody = pBodies.begin(); iter_pbody != pBodies.end(); iter_pbody++) {
(*iter_pbody)->update_ddq();
(*iter_pbody)->update_dV(true);
}
get_ddq(&(invM_A[i*invM_A.RowSize()]));
}
// restore
for (i=0, iter_pjoint = pJoints.begin(); iter_pjoint != pJoints.end(); i++, iter_pjoint++) {
(*iter_pjoint)->setPrescribed(isprescribed[i]);
}
setGravity(g);
return true;
}
bool GSpringDamperJoint::setSpring(RMatrix K_)
{
if ( K_.RowSize() * K_.ColSize() != pJoint->getDOF() ) return false;
return setSpring(K_.GetPtr());
}
bool GSpringDamperJoint::setDamper(RMatrix C_)
{
if ( C_.RowSize() * C_.ColSize() != pJoint->getDOF() ) return false;
return setDamper(C_.GetPtr());
}
bool GSpringDamperJoint::setNeutralPosition(RMatrix q_neutral_)
{
if ( q_neutral_.RowSize() * q_neutral_.ColSize() != pJoint->getDOF() ) return false;
return setNeutralPosition(q_neutral_.GetPtr());
}