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
|
/*
*_________________________________________________________________________*
* POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE *
* DESCRIPTION: SEE READ-ME *
* FILE NAME: body.h *
* 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 *
*_________________________________________________________________________*/
#ifndef BODY_H
#define BODY_H
#include "poemslist.h"
#include <iostream>
#include "poemsobject.h"
#include "matrices.h"
// emumerated type
enum BodyType {
INERTIALFRAME = 0,
PARTICLE = 1,
RIGIDBODY = 2
};
class Point;
class Joint;
class CompBody;
class Body : public POEMSObject {
public:
double mass;
Mat3x3 inertia;
Vect3 r;
Vect3 v;
Vect3 v_k;
Vect3 a;
Vect3 a_t;
Mat3x3 n_C_k;
Vect3 omega;
Vect3 omega_k;
Vect3 alpha;
Vect3 alpha_t;
double KE;
List<Joint> joints;
List<Point> points;
Body();
bool ReadIn(std::istream& in);
void WriteOut(std::ostream& out);
bool ReadInPoints(std::istream& in);
void WriteOutPoints(std::ostream& out);
Point* GetPoint(int p);
void AddJoint(Joint* joint);
void AddPoint(Point* point);
virtual bool ReadInBodyData(std::istream& in) = 0;
virtual void WriteOutBodyData(std::ostream& out) = 0;
virtual ~Body();
virtual BodyType GetType() = 0;
};
// global body functions
Body* NewBody(int type);
#endif
|
