void upper_arm(float h) { // draw the upper arm
setDiffuseColor( 0.85, 0.75, 0.25 );
setAmbientColor( 0.95, 0.75, 0.25 );
glPushMatrix();
glScalef( 1.0, 1.0, 0.7 );
y_box(h);
glPopMatrix();
}
void ground(float h)
{
glDisable(GL_LIGHTING);
glColor3f(0.65,0.45,0.2);
glPushMatrix();
glScalef(30,0,30);
y_box(h);
glPopMatrix();
glEnable(GL_LIGHTING);
}
void rotation_base(float h) {
setDiffuseColor( 0.85, 0.75, 0.25 );
setAmbientColor( 0.95, 0.75, 0.25 );
glPushMatrix();
glPushMatrix();
glScalef(4.0, h, 4.0);
y_box(1.0f); // the rotation base
glPopMatrix();
setDiffuseColor( 0.15, 0.15, 0.65 );
setAmbientColor( 0.15, 0.15, 0.65 );
glPushMatrix();
glTranslatef(-0.5, h, -0.6);
glScalef(2.0, h, 1.6);
y_box(1.0f); // the console
glPopMatrix();
setDiffuseColor( 0.65, 0.65, 0.65 );
setAmbientColor( 0.65, 0.65, 0.65 );
glPushMatrix();
glTranslatef( 0.5, h, 0.6 );
glRotatef( -90.0, 1.0, 0.0, 0.0 );
drawCylinder( h, 0.05, 0.05 ); // the pipe
glPopMatrix();
glPopMatrix();
}
void base(float h) {
setDiffuseColor( 0.25, 0.25, 0.25 );
setAmbientColor( 0.25, 0.25, 0.25 );
glPushMatrix();
glPushMatrix();
glTranslatef(1.0, h / 2.0, 0.75);
drawCylinder(0.25, h / 2.0, h / 2.0);
glPopMatrix();
glPushMatrix();
glTranslatef(1.0, h / 2.0, -1.0);
drawCylinder(0.25, h / 2.0, h / 2.0);
glPopMatrix();
glPushMatrix();
glTranslatef(-1.0, h / 2.0, 0.75);
drawCylinder(0.25, h / 2.0, h / 2.0);
glPopMatrix();
glPushMatrix();
glTranslatef(-1.0, h / 2.0, -1.0);
drawCylinder(0.25, h / 2.0, h / 2.0);
glPopMatrix();
glScalef(4.0f, h, 4.0f);
y_box(1.0f);
glPopMatrix();
}
void lower_arm(float h) { // draw the lower arm
setDiffuseColor( 0.85, 0.75, 0.25 );
setAmbientColor( 0.95, 0.75, 0.25 );
y_box(h);
}
void Elastic::Boundary_Conditions::set_dirichlet
(SAMRAI::pdat::SideData<double> &v,
const boost::shared_ptr<SAMRAI::pdat::SideData<double> > &dv_mixed_ptr,
const SAMRAI::hier::Index unit[],
const Gamra::Dir &dim,
const SAMRAI::hier::Box &pbox,
const SAMRAI::hier::Box &gbox,
const boost::shared_ptr<SAMRAI::geom::CartesianPatchGeometry> geom,
const double *dx,
const bool &homogeneous) const
{
for(Gamra::Dir ix=0; ix<dim; ++ix)
{
double offset[]={0.5,0.5,0.5};
offset[ix]=0;
for(Gamra::Dir iy=ix.next(dim); iy!=ix; iy=iy.next(dim))
{
const Gamra::Dir ix_iy(index_map(ix,iy,dim));
SAMRAI::hier::Box x_box(gbox);
x_box.setLower(ix,(geom->getTouchesRegularBoundary(ix,0)
&& is_dirichlet[ix][ix][0]) ?
pbox.lower(ix)+1 : pbox.lower(ix));
x_box.setUpper(ix,(geom->getTouchesRegularBoundary(ix,1)
&& is_dirichlet[ix][ix][1]) ?
pbox.upper(ix)-1 : pbox.upper(ix));
if(geom->getTouchesRegularBoundary(iy,0) && is_dirichlet[ix][iy][0])
{
SAMRAI::hier::Box y_box(x_box);
y_box.setUpper(iy,y_box.lower(iy));
SAMRAI::pdat::SideIterator
end(SAMRAI::pdat::SideGeometry::end(y_box,ix));
for(SAMRAI::pdat::SideIterator
si(SAMRAI::pdat::SideGeometry::begin(y_box,ix));
si!=end; ++si)
{
const SAMRAI::pdat::SideIndex &x(*si);
v(x)=-v(x+unit[iy]);
if(!homogeneous)
{
std::vector<double> coord(dim);
coord[iy]=geom->getXLower()[iy];
for(int d=(iy+1)%dim;d!=iy;d=(d+1)%dim)
coord[d]=geom->getXLower()[d]
+ dx[d]*(x[d]-pbox.lower()[d]+offset[d]);
if(have_faults())
v(x)+= -(*dv_mixed_ptr)(x+unit[iy],ix_iy+1);
v(x)+=2*expression[ix][iy][0].eval(coord.data());
}
}
}
if(geom->getTouchesRegularBoundary(iy,1) && is_dirichlet[ix][iy][1])
{
SAMRAI::hier::Box y_box(x_box);
y_box.setLower(iy,y_box.upper(iy));
SAMRAI::pdat::SideIterator
end(SAMRAI::pdat::SideGeometry::end(y_box,ix));
for(SAMRAI::pdat::SideIterator
si(SAMRAI::pdat::SideGeometry::begin(y_box,ix));
si!=end; ++si)
{
const SAMRAI::pdat::SideIndex &x(*si);
v(x)=-v(x-unit[iy]);
if(!homogeneous)
{
std::vector<double> coord(dim);
coord[iy]=geom->getXUpper()[iy];
for(int d=(iy+1)%dim;d!=iy;d=(d+1)%dim)
coord[d]=geom->getXLower()[d]
+ dx[d]*(x[d]-pbox.lower()[d]+offset[d]);
if(have_faults())
v(x)+= -(*dv_mixed_ptr)(x-unit[iy],ix_iy);
v(x)+=2*expression[ix][iy][1].eval(coord.data());
}
}
}
}
SAMRAI::hier::Box box(gbox);
if(geom->getTouchesRegularBoundary(ix,0) && is_dirichlet[ix][ix][0])
{
SAMRAI::hier::Box x_box(box);
x_box.setUpper(ix,x_box.lower(ix));
SAMRAI::pdat::SideIterator
end(SAMRAI::pdat::SideGeometry::end(x_box,ix));
for(SAMRAI::pdat::SideIterator
si(SAMRAI::pdat::SideGeometry::begin(x_box,ix)); si!=end; ++si)
{
const SAMRAI::pdat::SideIndex &x(*si);
if(x[ix]<pbox.lower(ix))
v(x)=boundary_value;
else
{
if(homogeneous)
{
v(x)=0;
}
else
{
std::vector<double> coord(dim);
for(int d=0;d<dim;++d)
coord[d]=geom->getXLower()[d]
+ dx[d]*(x[d]-pbox.lower()[d]+offset[d]);
v(x)=expression[ix][ix][0].eval(coord.data());
}
}
}
}
if(geom->getTouchesRegularBoundary(ix,1) && is_dirichlet[ix][ix][1])
{
SAMRAI::hier::Box x_box(box);
x_box.setLower(ix,x_box.upper(ix));
SAMRAI::pdat::SideIterator
end(SAMRAI::pdat::SideGeometry::end(x_box,ix));
for(SAMRAI::pdat::SideIterator
si(SAMRAI::pdat::SideGeometry::begin(x_box,ix)); si!=end; ++si)
{
const SAMRAI::pdat::SideIndex &x(*si);
if(x[ix]>pbox.upper(ix)+1)
v(x)=boundary_value;
else
{
if(homogeneous)
{
v(x)=0;
}
else
{
std::vector<double> coord(dim);
for(int d=0;d<dim;++d)
coord[d]=geom->getXLower()[d]
+ dx[d]*(x[d]-pbox.lower()[d]+offset[d]);
v(x)=expression[ix][ix][1].eval(coord.data());
}
}
}
}
}
}
