/dports/science/simbody/simbody-Simbody-3.7/Simbody/src/ |
H A D | BodyRep.h | 48 virtual const MassProperties& getDefaultRigidBodyMassProperties() const = 0; 49 virtual void setDefaultRigidBodyMassProperties(const MassProperties&) = 0; 109 const MassProperties& getDefaultRigidBodyMassProperties() const override { in getDefaultRigidBodyMassProperties() 112 void setDefaultRigidBodyMassProperties(const MassProperties& m) override { in setDefaultRigidBodyMassProperties() 124 MassProperties defaultMassProperties; 142 const MassProperties& getDefaultRigidBodyMassProperties() const override { in getDefaultRigidBodyMassProperties() 146 void setDefaultRigidBodyMassProperties(const MassProperties&) override { in setDefaultRigidBodyMassProperties() argument 156 const MassProperties infiniteMassProperties; 173 const MassProperties& getDefaultRigidBodyMassProperties() const override { in getDefaultRigidBodyMassProperties() 177 void setDefaultRigidBodyMassProperties(const MassProperties&) override { in setDefaultRigidBodyMassProperties() argument [all …]
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H A D | Body.cpp | 67 Body::Body(const MassProperties& m) : rep(0) { in Body() 104 const MassProperties& Body::getDefaultRigidBodyMassProperties() const { in getDefaultRigidBodyMassProperties() 108 Body& Body::setDefaultRigidBodyMassProperties(const MassProperties& m) { in setDefaultRigidBodyMassProperties() 123 Body::Rigid::Rigid(const MassProperties& m) { in Rigid()
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/dports/science/simbody/simbody-Simbody-3.7/examples/ |
H A D | ExampleAmysIKProblem.cpp | 76 Body::Rigid body_loadcell1(MassProperties(0,Vec3(0),Inertia(0,0,0))); in main() 82 Body::Rigid body_loadcell2(MassProperties(0,Vec3(0),Inertia(0,0,0))); in main() 152 Body::Rigid body_ulna_r(MassProperties(0.6075,Vec3(0,-0.120525,0),Inertia(0.0117867,0.000618,0.0120… in main() 161 Body::Rigid body_radius_r(MassProperties(0.6075,Vec3(0,-0.120525,0),Inertia(0.0117867,0.000618,0.01… in main() 169 Body::Rigid body_hand_r(MassProperties(0.4575,Vec3(0,-0.068095,0),Inertia(0.0030134,0.000547,0.0034… in main() 188 Body::Rigid body_ulna_l(MassProperties(0.6075,Vec3(0,-0.120525,0),Inertia(0.0117867,0.000618,0.0120… in main() 205 Body::Rigid body_hand_l(MassProperties(0.4575,Vec3(0,-0.068095,0),Inertia(0.0030134,0.000547,0.0034… in main() 211 Body::Rigid body_femur_r(MassProperties(10.5225,Vec3(0,-0.162162,0),Inertia(0.455313,0.036634,0.455… in main() 230 Body::Rigid body_tibia_r(MassProperties(3.2475,Vec3(0,-0.171713,0),Inertia(0.125753,0.005157,0.1269… in main() 281 Body::Rigid body_femur_l(MassProperties(10.5225,Vec3(0,-0.162162,0),Inertia(0.455313,0.036634,0.455… in main() [all …]
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H A D | ExampleClosedTopologyMechanism.cpp | 91 Body::Rigid rotorInfo(MassProperties(rotorMass, Vec3(0), in main() 98 Body::Rigid rockerInfo(MassProperties(rockerMass, Vec3(0), in main() 105 Body::Rigid linkerInfo(MassProperties(linkerMass, Vec3(0), in main() 112 Body::Rigid halfLinkerInfo(MassProperties(linkerMass/2, Vec3(0), in main()
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H A D | TheoJansenStrandbeest.cpp | 165 Body::Rigid torsoInfo(MassProperties(torsoMass,torsoCOM, in main() 174 Body::Rigid crankInfo(MassProperties(.1,Vec3(0), in main() 276 Body::Rigid shoulderInfo(MassProperties(1,Vec3(0),UnitInertia(1))); in addOneLeg() 297 Body::Rigid footInfo(MassProperties(10,Vec3(0),UnitInertia(1))); in addOneLeg() 326 Body::Rigid linkCInfo(MassProperties(.1,Vec3(0), UnitInertia::brick(CDims))); in addOneLeg() 331 Body::Rigid linkJInfo(MassProperties(.1,Vec3(0), UnitInertia::brick(JDims))); in addOneLeg() 336 Body::Rigid linkFInfo(MassProperties(.1,Vec3(0), UnitInertia::brick(FDims))); in addOneLeg() 342 Body::Rigid linkKInfo(MassProperties(.1,Vec3(0), UnitInertia::brick(KDims))); in addOneLeg()
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H A D | ExampleGears.cpp | 36 Body::Rigid gearBody(MassProperties(1.0, Vec3(0), Inertia(1))); in main() 39 Body::Rigid rodBody(MassProperties(1.0, Vec3(0), Inertia(1))); in main()
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H A D | DzhanibekovEffect.cpp | 71 Body::Rigid shaftBody(MassProperties(1, Vec3(0), in main() 77 Body::Rigid barBody(MassProperties(2, Vec3(0), in main()
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H A D | ExampleCablePath.cpp | 240 Body::Rigid someBody(MassProperties(1.0, Vec3(0), Inertia(1))); in main() 243 Body::Rigid biggerBody(MassProperties(1.0, Vec3(0), Inertia(1))); in main() 247 Body::Rigid ellipsoidBody(MassProperties(1.0, Vec3(0), in main() 251 Body::Rigid cylinderBody(MassProperties(1.0, Vec3(0), in main()
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/dports/science/simbody/simbody-Simbody-3.7/Simbody/include/simbody/internal/ |
H A D | Body.h | 72 Body(const MassProperties& massProps); 78 Body& setDefaultRigidBodyMassProperties(const MassProperties&); 83 const MassProperties& getDefaultRigidBodyMassProperties() const; 187 explicit Rigid(const MassProperties&); 189 Rigid& setDefaultRigidBodyMassProperties(const MassProperties& m) { in setDefaultRigidBodyMassProperties() 213 explicit Linear(const MassProperties&); 215 Linear& setDefaultRigidBodyMassProperties(const MassProperties& m) { in setDefaultRigidBodyMassProperties() 241 Particle& setDefaultRigidBodyMassProperties(const MassProperties& m) { in setDefaultRigidBodyMassProperties()
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H A D | MobilizedBody.h | 408 const MassProperties& getBodyMassProperties(const State& state) const; 1169 MassProperties expressMassPropertiesInGroundFrame(const State& state) const { in expressMassPropertiesInGroundFrame() 1170 const MassProperties& M_Bo_B = getBodyMassProperties(state); in expressMassPropertiesInGroundFrame() 1179 MassProperties expressMassPropertiesInAnotherBodyFrame in expressMassPropertiesInAnotherBodyFrame() 1181 const MassProperties& M_Bo_B = getBodyMassProperties(state); in expressMassPropertiesInAnotherBodyFrame() 1217 const MassProperties& mp = getBodyMassProperties(state); in calcBodySpatialInertiaMatrixInGround() 1242 const MassProperties& MB_Bo_B = getBodyMassProperties(state); in calcBodyInertiaAboutAnotherBodyStation() 1264 const MassProperties M_Bo_G = expressMassPropertiesInGroundFrame(state); in calcBodyMomentumAboutBodyOriginInGround() 1273 const MassProperties& M_Bo_B = getBodyMassProperties(state); in calcBodyMomentumAboutBodyMassCenterInGround() 1550 MobilizedBody& setDefaultMassProperties(const MassProperties& m) { in setDefaultMassProperties() [all …]
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/dports/science/simbody/simbody-Simbody-3.7/examples/TaskSpaceControl-UR10/ |
H A D | UR10.cpp | 76 Body baseInfo(MassProperties(4., Vec3(0), in UR10() 81 Body shoulderInfo(MassProperties(7.778, Vec3(0), in UR10() 91 Body upperArmInfo(MassProperties(upperArmMass, upperArmCOM, in UR10() 99 Body forearmInfo(MassProperties(forearmMass, forearmCOM, in UR10() 102 Body wrist1Info(MassProperties(1.96, Vec3(0), in UR10() 108 Body wrist3Info(MassProperties(0.202, Vec3(0), in UR10() 114 Body endEffectorInfo(MassProperties(.1, Vec3(0), in UR10()
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/dports/science/simbody/simbody-Simbody-3.7/examples/BricardMechanism/ |
H A D | ExampleBricardMechanism.cpp | 100 Body::Rigid EVEN_PART_1(MassProperties(Mass, EvenCOM, EvenBodyInertia)); in main() 101 Body::Rigid EVEN_PART_2(MassProperties(Mass, EvenCOM, EvenBodyInertia)); in main() 102 Body::Rigid EVEN_PART_3(MassProperties(Mass, EvenCOM, EvenBodyInertia)); in main() 105 Body::Rigid ODD_PART_1(MassProperties(Mass, OddCOM, OddBodyInertia)); in main() 106 Body::Rigid ODD_PART_2(MassProperties(Mass, OddCOM, OddBodyInertia)); in main() 109 Body::Rigid ODD_PART_3_HALF1(MassProperties(Mass/2, OddCOM, in main() 111 Body::Rigid ODD_PART_3_HALF2(MassProperties(Mass/2, OddCOM, in main()
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/dports/science/simbody/simbody-Simbody-3.7/examples/TaskSpaceControl-Atlas/ |
H A D | URDFReader.cpp | 77 /*static*/ MassProperties URDF::getMassProperties(Xml::Element link) { in getMassProperties() 80 return MassProperties(1,Vec3(0),UnitInertia(1,1,1)); in getMassProperties() 89 return MassProperties(mass,com_L,UnitInertia(1,1,1)); in getMassProperties() 101 return MassProperties(mass, com_L, Io_L); // converts to unit inertia in getMassProperties() 145 worldLink.massProps = MassProperties(Infinity,Vec3(0),UnitInertia(1)); in readRobot()
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H A D | URDFReader.h | 78 static SimTK::MassProperties 99 SimTK::MassProperties getEffectiveMassProps(int numFragments) const { in getEffectiveMassProps() 101 return SimTK::MassProperties(massProps.getMass()/numFragments, in getEffectiveMassProps() 117 SimTK::MassProperties massProps;
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/dports/science/simbody/simbody-Simbody-3.7/Simbody/tests/ |
H A D | TestMobilizerReactionForces.cpp | 91 Body::Rigid body = Body::Rigid(MassProperties(1.3, Vec3(0), Inertia(1.3))); in testByComparingToConstraints() 200 Body::Rigid pendulumBody(MassProperties(1.0, Vec3(0), Inertia(1))); in testByComparingToConstraints2() 356 MobilizedBody::Slider body1(matter.updGround(), MassProperties(10.0, Vec3(0), inertia)); in testByComparingToSDFAST() 413 Body::Rigid femur(MassProperties(8.806, Vec3(0), Inertia(Vec3(0.1268, 0.0332, 0.1337)))); in testByComparingToSDFAST2() 414 Body::Rigid tibia(MassProperties(3.510, Vec3(0), Inertia(Vec3(0.0477, 0.0048, 0.0484)))); in testByComparingToSDFAST2() 453 MassProperties(10.0, Vec3(0), inertia)); in testByComparingToSDFASTWithConstraint() 455 MassProperties(20.0, Vec3(0), inertia), Vec3(0, 0.2, 0)); in testByComparingToSDFASTWithConstraint() 457 MassProperties(20.0, Vec3(0), inertia), Vec3(0, 0.2, 0)); in testByComparingToSDFASTWithConstraint() 459 MassProperties(30.0, Vec3(0), inertia), Vec3(0, 0.2, 0)); in testByComparingToSDFASTWithConstraint() 461 MassProperties(30.0, Vec3(0), inertia), Vec3(0, 0.2, 0)); in testByComparingToSDFASTWithConstraint() [all …]
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H A D | TestMobilizedBody.cpp | 36 Body::Rigid body(MassProperties(1.0, Vec3(0), Inertia(1))); in testCalculationMethods() 86 Body::Rigid body(MassProperties(1.0, Vec3(0), Inertia(1))); in testWeld() 138 Body::Rigid lumpy(MassProperties(3.1, Vec3(.1, .2, .3), in testGimbal() 140 Body::Rigid massless(MassProperties(0,Vec3(0),UnitInertia(0))); in testGimbal() 209 Body::Rigid lumpy(MassProperties(3.1, Vec3(.1, .2, .3), in testBushing() 211 Body::Rigid massless(MassProperties(0,Vec3(0),UnitInertia(0))); in testBushing()
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H A D | TestFunctionBasedMobilizedBodies.cpp | 313 Body::Rigid body(MassProperties(1.0, Vec3(0.5), Inertia(1))); in testFunctionBasedPin() 352 Body::Rigid body(MassProperties(1.0, Vec3(0), Inertia(1))); in testFunctionBasedSkewedPin() 379 Body::Rigid body(MassProperties(1.0, Vec3(0), Inertia(1))); in testFunctionBasedSlider() 413 Body::Rigid body(MassProperties(1.0, Vec3(0), Inertia(1))); in testFunctionBasedSkewedSlider() 437 Body::Rigid body(MassProperties(1.0, Vec3(0), Inertia(1))); in testFunctionBasedCylinder() 461 Body::Rigid body(MassProperties(1.0, Vec3(0), Inertia(1))); in testFunctionBasedUniversal() 487 Body::Rigid body(MassProperties(1.0, Vec3(0, 0, 0), Inertia(1))); in testFunctionBasedPlanar() 512 Body::Rigid body(MassProperties(1.0, Vec3(0, -0.5, 0), Inertia(0.5))); in testFunctionBasedGimbal() 548 Body::Rigid body(MassProperties(1.0, Vec3(0, -0.5, 0), Inertia(0.5))); in testFunctionBasedGimbalUserAxes() 649 Body::Rigid body(MassProperties(1.0, Vec3(0, -0.5, 0), Inertia(0.5))); in testFunctionBasedTranslation() [all …]
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H A D | TestCollisionDetectionAlgorithm.cpp | 67 Body::Rigid body(MassProperties(1.0, Vec3(0), Inertia(1))); in testHalfSpaceSphere() 107 Body::Rigid body(MassProperties(1.0, Vec3(0), Inertia(1))); in testSphereSphere() 158 Body::Rigid body(MassProperties(1.0, Vec3(0), Inertia(1))); in testHalfSpaceEllipsoid() 222 Body::Rigid body(MassProperties(1.0, Vec3(0), Inertia(1))); in testEllipsoidEllipsoid() 223 Body::Rigid body2(MassProperties(1.0, Vec3(0), Inertia(1))); in testEllipsoidEllipsoid() 320 Body::Rigid body(MassProperties(1.0, Vec3(0), Inertia(1))); in testHalfSpaceTriangleMesh() 374 Body::Rigid body(MassProperties(1.0, Vec3(0), Inertia(1))); in testSphereTriangleMesh() 443 Body::Rigid body(MassProperties(1.0, Vec3(0), Inertia(1))); in testTriangleMeshTriangleMesh()
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/dports/science/simbody/simbody-Simbody-3.7/Simbody/tests/adhoc/ |
H A D | JunkMain1.cpp | 91 Body::Rigid someBody(MassProperties(1.0, Vec3(0), Inertia(1))); in main() 96 Body::Rigid biggerBody(MassProperties(1.0, Vec3(0), Inertia(1))); in main() 102 Body::Rigid ellipsoidBody(MassProperties(1.0, Vec3(0), in main() 109 Body::Rigid cylinderBody(MassProperties(1.0, Vec3(0), in main()
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H A D | JunkMain2.cpp | 92 Body::Rigid someBody(MassProperties(1.0, Vec3(0), Inertia(1))); in main() 97 Body::Rigid biggerBody(MassProperties(1.0, Vec3(0), Inertia(1))); in main() 103 Body::Rigid ellipsoidBody(MassProperties(1.0, Vec3(0), in main() 110 Body::Rigid cylinderBody(MassProperties(1.0, Vec3(0), in main()
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H A D | RadusDrifter.cpp | 64 … Body::Rigid crankBody = Body::Rigid(MassProperties(.1, Vec3(0), 0.1*UnitInertia::brick(1,3,.5))); in main() 68 … Body::Rigid sliderBody = Body::Rigid(MassProperties(.2, Vec3(0), 0.2*UnitInertia::brick(1,5,.5))); in main() 73 …Body::Rigid longBar = Body::Rigid(MassProperties(0.01, Vec3(0), 0.01*UnitInertia::cylinderAlongX(.… in main()
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H A D | FreeWater.cpp | 65 Body::Rigid oxygen = Body::Rigid(MassProperties(m, Vec3(0), Inertia(0))); in main() 67 Body::Rigid hydrogen = Body::Rigid(MassProperties(m, Vec3(0), Inertia(0))); in main() 72 MassProperties(0,Vec3(0),Inertia(0)), Transform()); in main()
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H A D | RigidContact1.cpp | 610 Body::Rigid(MassProperties(BrickMass, Vec3(0), brickInertia)); in TimsBox() 795 Body::Rigid ballBody(MassProperties(BallMass, Vec3(0), in BouncingBalls() 799 Body::Rigid ballBody_heavy(MassProperties(Heavy*BallMass, Vec3(0), in BouncingBalls() 939 Body::Rigid pencilBody(MassProperties(PencilMass, Vec3(0), in Pencil() 951 MassProperties(10,Vec3(0),UnitInertia(0)), Vec3(-2,0,0)); in Pencil() 992 MassProperties(BallMass, Vec3(0), UnitInertia::sphere(BallRad)), in Pencil() 1105 Body::Rigid blockBody(MassProperties(Mass1, COM1, Inertia1)); in Block() 1120 Body::Rigid link2Info(MassProperties(Mass2, COM2, Inertia2)); in Block() 1123 Body::Rigid link3Info(MassProperties(Mass3, COM3, Inertia3)); in Block() 1197 Body::Rigid groundedBody(MassProperties(MassGrounded, Vec3(0), in Edges() [all …]
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/dports/science/opensim-core/opensim-core-4.1/OpenSim/Simulation/SimbodyEngine/ |
H A D | Body.cpp | 81 const SimTK::MassProperties& massProps = getMassProperties(); in extendFinalizeFromProperties() 99 const SimTK::MassProperties& massProps = getMassProperties(); in extendConnectToModel() 100 SimTK::MassProperties slaveMassProps(massProps.getMass() / nbods, in extendConnectToModel() 355 SimTK::MassProperties Body::getMassProperties() const in getMassProperties() 370 return SimTK::MassProperties(m, com, Ib); in getMassProperties()
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/dports/science/simbody/simbody-Simbody-3.7/examples/Gazebo2Simbody/ |
H A D | Gazebo2Simbody.cpp | 158 MassProperties getEffectiveMassProps(int numFragments) const { in getEffectiveMassProps() 160 return MassProperties(massProps.getMass()/numFragments, in getEffectiveMassProps() 176 MassProperties massProps; 539 static MassProperties getMassProperties(Xml::Element link) { in getMassProperties() 542 return MassProperties(1,Vec3(0),UnitInertia(1,1,1)); in getMassProperties() 548 return MassProperties(mass,com_L,UnitInertia(1,1,1)); in getMassProperties() 560 return MassProperties(mass, com_L, Io_L); // converts to unit inertia in getMassProperties() 621 const MassProperties massProps = in addModelToSimbodySystem() 1067 worldLink.massProps = MassProperties(Infinity,Vec3(0),UnitInertia(1)); in readModel()
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