1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
|
/*
*_________________________________________________________________________*
* POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE *
* DESCRIPTION: SEE READ-ME *
* FILE NAME: body.cpp *
* AUTHORS: See Author List *
* GRANTS: See Grants List *
* COPYRIGHT: (C) 2005 by Authors as listed in Author's List *
* LICENSE: Please see License Agreement *
* DOWNLOAD: Free at www.rpi.edu/~anderk5 *
* ADMINISTRATOR: Prof. Kurt Anderson *
* Computational Dynamics Lab *
* Rensselaer Polytechnic Institute *
* 110 8th St. Troy NY 12180 *
* CONTACT: anderk5@rpi.edu *
*_________________________________________________________________________*/
#include "bodies.h"
#include "point.h"
using namespace std;
Body::Body()
{
inertia.Zeros();
mass = 0;
a_t.Zeros();
}
Body::~Body()
{
points.DeleteValues();
}
bool Body::ReadIn(istream& in){
return (ReadInBodyData(in) && ReadInPoints(in));
}
void Body::WriteOut(ostream& out){
// write out header <type> <name>
out << GetType() << ' ' << GetName() << endl;
// write out body specific data
WriteOutBodyData(out);
// write out points
WriteOutPoints(out);
}
bool Body::ReadInPoints(istream& in){
// get numfixed points
int numpoints;
int index;
Point* point;
int pointtype;
char pointname[256];
in >> numpoints;
for(int i=points.GetNumElements();i<numpoints;i++){
// error check
in >> index;
if(index != i){
cerr << "Invalid file format" << endl;
return false;
}
in >> pointtype >> pointname;
point = NewPoint(pointtype);
if(!point){
cerr << "Unrecognized point type '" << pointtype << endl;
return false;
}
// add the point
AddPoint(point);
// set generic point info
point->ChangeName(pointname);
// read in the rest of its data
if(!point->ReadIn(in)) return false;
}
return true;
}
void Body::WriteOutPoints(std::ostream& out){
int numpoints = points.GetNumElements();
out << numpoints << endl;
// list element pointer
ListElement<Point>* ele = points.GetHeadElement();
// set the ID of each point
for(int i=0;i<numpoints;i++){
ele->value->SetID(i);
out << i << ' ';
ele->value->WriteOut(out);
// increment list element pointer
ele = ele->next;
}
out << endl;
}
Point* Body::GetPoint(int p) {
return points(p);
}
void Body::AddJoint(Joint* joint){
joints.Append(joint);
}
void Body::AddPoint(Point* point){
points.Append(point);
}
//
// global body functions
//
Body* NewBody(int type){
switch( BodyType(type) )
{
case INERTIALFRAME : // The inertial reference frame
return new InertialFrame;
case RIGIDBODY : // A Rigid Body
return new RigidBody;
case PARTICLE : // A Particle
return new Particle;
default : // error
return 0;
}
}
|
