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#include "ForceTorqueRecorder.hpp"
namespace yade { // Cannot have #include directive inside.
YADE_PLUGIN((ForceRecorder)(TorqueRecorder));
CREATE_LOGGER(ForceRecorder);
void ForceRecorder::action()
{
totalForce = Vector3r::Zero();
FOREACH(Body::id_t id, ids)
{
if (!(scene->bodies->exists(id))) continue;
totalForce += scene->forces.getForce(id);
};
//Save data to a file
out << scene->iter << " " << totalForce[0] << " " << totalForce[1] << " " << totalForce[2] << " " << totalForce.norm() << "\n";
out.close();
}
CREATE_LOGGER(TorqueRecorder);
void TorqueRecorder::action()
{
totalTorque = 0;
Vector3r tmpAxis = rotationAxis.normalized();
FOREACH(Body::id_t id, ids)
{
if (!(scene->bodies->exists(id))) continue;
Body* b = Body::byId(id, scene).get();
Vector3r tmpPos = b->state->pos;
Vector3r radiusVector = tmpAxis.cross(tmpAxis.cross(tmpPos - zeroPoint));
totalTorque += tmpAxis.dot(scene->forces.getTorque(id) + radiusVector.cross(scene->forces.getForce(id)));
};
//Save data to a file
out << scene->iter << " " << totalTorque << "\n";
out.close();
}
} // namespace yade
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