void ChIntegrableIIorder::StateIncrement(ChState& y_new, // resulting y_new = y + Dy
const ChState& y, // initial state y
const ChStateDelta& Dy // state increment Dy
) {
if (y.GetRows() == this->GetNcoords_x()) {
// Incrementing the x part only, user provided only x in y={x, dx/dt}
StateIncrementX(y_new, y, Dy);
return;
}
if (y.GetRows() == this->GetNcoords_y()) {
// Incrementing y in y={x, dx/dt}.
// PERFORMANCE WARNING! temporary vectors allocated on heap. This is only to support
// compatibility with 1st order integrators.
ChState mx(this->GetNcoords_x(), y.GetIntegrable());
ChStateDelta mv(this->GetNcoords_v(), y.GetIntegrable());
mx.PasteClippedMatrix(y, 0, 0, this->GetNcoords_x(), 1, 0, 0);
mv.PasteClippedMatrix(y, this->GetNcoords_x(), 0, this->GetNcoords_v(), 1, 0, 0);
ChStateDelta mDx(this->GetNcoords_v(), y.GetIntegrable());
ChStateDelta mDv(this->GetNcoords_a(), y.GetIntegrable());
mDx.PasteClippedMatrix(Dy, 0, 0, this->GetNcoords_v(), 1, 0, 0);
mDv.PasteClippedMatrix(Dy, this->GetNcoords_v(), 0, this->GetNcoords_a(), 1, 0, 0);
ChState mx_new(this->GetNcoords_x(), y.GetIntegrable());
ChStateDelta mv_new(this->GetNcoords_v(), y.GetIntegrable());
StateIncrementX(mx_new, mx, mDx); // increment positions
mv_new = mv + mDv; // increment speeds
y_new.PasteMatrix(mx_new, 0, 0);
y_new.PasteMatrix(mv_new, this->GetNcoords_x(), 0);
return;
}
throw ChException("StateIncrement() called with a wrong number of elements");
}
void ChPythonEngine::Run(const char* program) throw(ChException)
{
/*
// Redirect stdout to one std::string buffer.
std::streambuf *msgOutBuffer, *msgOutBufferBackup;
std::stringstream smessageOutput;
msgOutBufferBackup = std::cout.rdbuf();
msgOutBuffer = smessageOutput.rdbuf();
std::cout.rdbuf(msgOutBuffer);
*/
// Redirect stderr to one std::string buffer.
std::streambuf *msgErrBuffer, *msgErrBufferBackup;
std::stringstream smessageError;
msgErrBufferBackup = std::cerr.rdbuf();
msgErrBuffer = smessageError.rdbuf();
std::cerr.rdbuf(msgErrBuffer);
if (PyRun_SimpleString(program) != 0)
{
PyErr_Print();
throw ChException(smessageError.str());
}
// Set to previous channels!
//std::cout.rdbuf(msgOutBufferBackup);
std::cerr.rdbuf(msgErrBufferBackup);
}
bool ChCollisionModel::AddConvexHullsFromFile(ChStreamInAscii& mstream,
const ChVector<>& pos,
const ChMatrix33<>& rot) {
std::vector<ChVector<double> > ptlist;
char bufdata[200];
int linechar = 0;
while (!mstream.End_of_stream()) {
// read one line
linechar = 0;
while (!mstream.End_of_stream()) {
try {
mstream >> bufdata[linechar];
} catch (ChException mex) {
};
if ((bufdata[linechar] == (char)13) || (bufdata[linechar] == (char)10)) {
bufdata[linechar] = 0;
break;
}
linechar++;
if (linechar >= 200)
throw(ChException("Too long line in parsing"));
}
bufdata[linechar + 1] = 0;
bool parsedline = false;
if (bufdata[0] != *"#") {
parsedline = true;
}
if (strcmp(bufdata, "hull") == 0) {
if (ptlist.size())
this->AddConvexHull(ptlist, pos, rot);
ptlist.clear();
parsedline = true;
}
float vx, vy, vz;
if (sscanf(bufdata, "%g %g %g", &vx, &vy, &vz) == 3) {
ptlist.push_back(ChVector<>(vx, vy, vz));
parsedline = true;
}
}
if (ptlist.size())
this->AddConvexHull(ptlist, pos, rot);
ptlist.clear();
return true;
}
void ChPythonEngine::ImportSolidWorksSystem(const char* solidworks_py_file, ChSystem& msystem) throw(ChException)
{
std::ostringstream sstream;
//sstream << "from " << std::string(solidworks_py_file) << " import exported_items\n";
sstream << "import builtins \n";
sstream << "import imp \n";
sstream << "import os \n";
sstream << "mdirname, mmodulename= os.path.split('" << std::string(solidworks_py_file) << "') \n";
sstream << "builtins.exported_system_relpath = mdirname + '/' \n";
sstream << "fp, pathname, description = imp.find_module(mmodulename,[builtins.exported_system_relpath]) \n";
sstream << "try: \n";
sstream << " imported_mod = imp.load_module('imported_mod', fp, pathname, description) \n";
sstream << "finally: \n";
sstream << " if fp: \n";
sstream << " fp.close() \n";
sstream << "exported_items = imported_mod.exported_items \n";
this->Run(sstream.str().c_str());
PyObject * module = PyImport_AddModule("__main__"); // borrowed reference
if (!module)
throw ChException("ERROR. No Python __main__ module?");
PyObject * dictionary = PyModule_GetDict(module); // borrowed reference
if (!dictionary)
throw ChException("ERROR. No Python dictionary?");
PyObject * result = PyDict_GetItemString(dictionary, "exported_items"); // borrowed reference
if (!result)
throw ChException("ERROR. Missing Python object 'exported_items' in SolidWorks file");
if (PyList_Check(result))
{
int nitems = PyList_Size(result);
//GetLog() << "N.of list items: " << nitems << "\n";
for (int i = 0; i< nitems; i++)
{
PyObject* mobj = PyList_GetItem(result,i);
if (mobj)
{
// GetLog() << " Python type: " << mobj->ob_type->tp_name << "\n";
SwigPyObject * mswigobj = SWIG_Python_GetSwigThis(mobj);
if (mswigobj)
{
void* objptr = mswigobj->ptr;
ChSharedPtr<ChPhysicsItem>* pt_to_shp = (ChSharedPtr<ChPhysicsItem>*)objptr;
/// Add the ChPhysicsItem to the ChSystem
msystem.Add( (*pt_to_shp) );
}
else
{
throw ChException("ERROR. Only shared pointers to ChPhysicsItem subclasses can be inside exported_items.");
}
}
}
msystem.Setup();
msystem.Update();
}
else
{
throw ChException("ERROR. exported_items python object is not a list.");
}
}