| /dports/science/simbody/simbody-Simbody-3.7/Simbody/tests/ |
| H A D | TestForces.cpp | 43 for (int i = 0; i < bodyForces.size(); ++i) in verifyForces()
148 bodyForces = SpatialVec(Vec3(0), Vec3(0)); in testStandardForces()
151 bodyForces[1][1] = Vec3(1, 2, 3); in testStandardForces()
156 bodyForces = SpatialVec(Vec3(0), Vec3(0)); in testStandardForces()
159 bodyForces[1][0] = Vec3(1, 2, 3); in testStandardForces()
164 bodyForces = SpatialVec(Vec3(0), Vec3(0)); in testStandardForces()
171 bodyForces = SpatialVec(Vec3(0), Vec3(0)); in testStandardForces()
179 bodyForces = SpatialVec(Vec3(0), Vec3(0)); in testStandardForces()
187 bodyForces = SpatialVec(Vec3(0), Vec3(0)); in testStandardForces()
195 bodyForces = SpatialVec(Vec3(0), Vec3(0)); in testStandardForces()
[all …]
|
| H A D | TestMassMatrix.cpp | 48 SimTK_TEST( F.size() == 0 || F.size() == bodyForces.size() ); in calcForce()
52 bodyForces += F; in calcForce()
762 Vector_<SpatialVec> bodyForces(nb); in testUnconstrainedSystem() local
764 bodyForces[i] = Test::randSpatialVec(); in testUnconstrainedSystem()
773 mobilityForces, bodyForces, knownUdots, residualForces); in testUnconstrainedSystem()
854 0*mobilityForces, bodyForces, knownUdots, residualForces1); in testUnconstrainedSystem()
856 Vector(), bodyForces, knownUdots, residualForces2); in testUnconstrainedSystem()
866 mobilityForces, bodyForces, Vector(), residualForces2); in testUnconstrainedSystem()
871 Vector(), bodyForces, Vector(), residualForces2); in testUnconstrainedSystem()
881 Vector(3,Zero), bodyForces, knownUdots, residualForces2)); in testUnconstrainedSystem()
[all …]
|
| /dports/science/simbody/simbody-Simbody-3.7/Simbody/src/ |
| H A D | Force.cpp | 62 bodyForces.resize(matter.getNumBodies()); in calcForceContribution()
67 bodyForces.setToZero(); in calcForceContribution()
119 bodyForces[body1] += SpatialVec(s1_G % f1_G, f1_G); in calcForce()
120 bodyForces[body2] -= SpatialVec(s2_G % f1_G, f1_G); in calcForce()
829 if (bodyForces.size() == 0) { in setOneBodyForce()
831 bodyForces.setToZero(); in setOneBodyForce()
867 if (bodyForces.size() == 0) { in addForceToBodyPoint()
869 bodyForces.setToZero(); in addForceToBodyPoint()
910 Vector_<SpatialVec>& bodyForces, in calcForce() argument
920 if (F.size()) bodyForces += F; in calcForce()
[all …]
|
| H A D | ForceImpl.h | 69 Vector_<SpatialVec>& bodyForces,
123 Vector_<SpatialVec>& bodyForces,
150 …void calcForce(const State& state, Vector_<SpatialVec>& bodyForces, Vector_<Vec3>& particleForces,…
173 …void calcForce(const State& state, Vector_<SpatialVec>& bodyForces, Vector_<Vec3>& particleForces,…
207 void calcForce(const State& state, Vector_<SpatialVec>& bodyForces,
257 void calcForce(const State& state, Vector_<SpatialVec>& bodyForces,
313 void calcForce(const State& state, Vector_<SpatialVec>& bodyForces,
370 void calcForce(const State& state, Vector_<SpatialVec>& bodyForces,
481 Vector_<SpatialVec>& bodyForces,
521 …void calcForce(const State& state, Vector_<SpatialVec>& bodyForces, Vector_<Vec3>& particleForces,…
[all …]
|
| H A D | RigidBodyNode_Weld.cpp | 203 const SpatialVec* bodyForces, in calcUDotPass1Inward() argument
209 const SpatialVec& F = bodyForces[0]; in calcUDotPass1Inward()
282 const SpatialVec* bodyForces, in calcInverseDynamicsPass2Inward() argument
286 allF[0] = -bodyForces[0]; in calcInverseDynamicsPass2Inward()
351 const SpatialVec* bodyForces, in calcEquivalentJointForces() argument
355 allZ[0] = bodyForces[0]; in calcEquivalentJointForces()
478 const SpatialVec* bodyForces, in calcUDotPass1Inward() argument
484 const SpatialVec& myBodyForce = bodyForces[nodeNum]; in calcUDotPass1Inward()
587 const SpatialVec* bodyForces, in calcInverseDynamicsPass2Inward() argument
676 const SpatialVec* bodyForces, in calcEquivalentJointForces() argument
[all …]
|
| H A D | ElasticFoundationForce.cpp | 93 (const State& state, Vector_<SpatialVec>& bodyForces, in calcForce() argument
115 contact.getSurface1Faces(), areaScale, bodyForces, pe); in calcForce()
123 contact.getSurface2Faces(), areaScale, bodyForces, pe); in calcForce()
132 Real areaScale, Vector_<SpatialVec>& bodyForces, Real& pe) const in processContact() argument
190 body1.applyForceToBodyPoint(state, station1, force, bodyForces); in processContact()
191 body2.applyForceToBodyPoint(state, station2, -force, bodyForces); in processContact()
|
| H A D | ElasticFoundationForceImpl.h | 45 void calcForce(const State& state, Vector_<SpatialVec>& bodyForces,
54 Vector_<SpatialVec>& bodyForces, Real& pe) const;
|
| H A D | RigidBodyNode_LoneParticle.cpp | 242 const SpatialVec* bodyForces, in calcEquivalentJointForces() argument
245 const SpatialVec& myBodyForce = bodyForces[nodeNum]; in calcEquivalentJointForces()
258 const SpatialVec* bodyForces, in calcUDotPass1Inward() argument
265 const SpatialVec& F = bodyForces[nodeNum]; in calcUDotPass1Inward()
376 const SpatialVec* bodyForces, in calcInverseDynamicsPass2Inward() argument
380 const SpatialVec& myBodyForce = bodyForces[nodeNum]; in calcInverseDynamicsPass2Inward()
|
| /dports/science/opensim-core/opensim-core-4.1/OpenSim/Examples/Plugins/CoupledBushingForceExample/ |
| H A D | CoupledBushingForce.cpp | 112 SimTK::Vector_<SimTK::SpatialVec>& bodyForces, in computeForce() argument
128 addInPhysicalForcesFromInternal(s, f, bodyForces); in computeForce()
191 SimTK::Vector_<SimTK::SpatialVec> bodyForces(0); in getRecordValues() local
196 simtkSpring.calcForceContribution(state, bodyForces, particleForces, mobilityForces); in getRecordValues()
197 SimTK::Vec3 forces = bodyForces[frame1.getMobilizedBodyIndex()][1]; in getRecordValues()
198 SimTK::Vec3 torques = bodyForces[frame1.getMobilizedBodyIndex()][0]; in getRecordValues()
202 forces = bodyForces[frame2.getMobilizedBodyIndex()][1]; in getRecordValues()
203 torques = bodyForces[frame2.getMobilizedBodyIndex()][0]; in getRecordValues()
|
| /dports/science/opensim-core/opensim-core-4.1/OpenSim/Simulation/Model/ |
| H A D | ExpressionBasedPointToPointForce.cpp | 167 SimTK::Vector_<SimTK::SpatialVec>& bodyForces, in computeForce() argument
199 bodyForces[_b1->getMobilizedBodyIndex()] += SpatialVec(s1_G % f1_G, f1_G); in computeForce()
200 bodyForces[_b2->getMobilizedBodyIndex()] -= SpatialVec(s2_G % f1_G, f1_G); in computeForce()
244 SimTK::Vector_<SimTK::SpatialVec> bodyForces(0); in getRecordValues() local
251 .calcForceContribution(state, bodyForces, particleForces, mobilityForces); in getRecordValues()
253 SimTK::Vec3 forces = bodyForces(_body1->getMobilizedBodyIndex())[1]; in getRecordValues()
259 forces = bodyForces(_body2->getMobilizedBodyIndex())[1]; in getRecordValues()
|
| H A D | Force.cpp | 165 Vector_<SpatialVec> &bodyForces) const in applyForceToPoint()
172 p_B, forceInG, bodyForces); in applyForceToPoint()
176 const Vec3& torque, Vector_<SpatialVec> &bodyForces) const in applyTorque()
179 torque, bodyForces); in applyTorque()
|
| H A D | BushingForce.cpp | 267 SimTK::Vector_<SimTK::SpatialVec> bodyForces(0); in getRecordValues() local
272 simtkSpring.calcForceContribution(state, bodyForces, particleForces, mobilityForces); in getRecordValues()
273 SimTK::Vec3 forces = bodyForces[frame1.getMobilizedBodyIndex()][1]; in getRecordValues()
274 SimTK::Vec3 torques = bodyForces[frame1.getMobilizedBodyIndex()][0]; in getRecordValues()
278 forces = bodyForces[frame2.getMobilizedBodyIndex()][1]; in getRecordValues()
279 torques = bodyForces[frame2.getMobilizedBodyIndex()][0]; in getRecordValues()
|
| H A D | Force.h | 150 SimTK::Vector_<SimTK::SpatialVec>& bodyForces, in computeForce() argument
183 SimTK::Vector_<SimTK::SpatialVec>& bodyForces) const;
200 SimTK::Vector_<SimTK::SpatialVec>& bodyForces) const;
|
| H A D | PointToPointSpring.cpp | 177 SimTK::Vector_<SimTK::SpatialVec> bodyForces(0); in getRecordValues() local
185 simtkSpring.calcForceContribution(state, bodyForces, particleForces, in getRecordValues()
187 SimTK::Vec3 forces = bodyForces(body1.getMobilizedBodyIndex())[1]; in getRecordValues()
193 forces = bodyForces(body2.getMobilizedBodyIndex())[1]; in getRecordValues()
|
| H A D | ForceAdapter.cpp | 46 SimTK::Vector_<SimTK::SpatialVec>& bodyForces,SimTK::Vector_<SimTK::Vec3>& particleForces, in calcForce() argument
49 _force->computeForce(state, bodyForces, mobilityForces); in calcForce()
|
| H A D | PathActuator.cpp | 171 SimTK::Vector_<SimTK::SpatialVec>& bodyForces, in computeForce() argument
195 path.addInEquivalentForces(s, force, bodyForces, mobilityForces); in computeForce()
|
| /dports/science/simbody/simbody-Simbody-3.7/Simbody/tests/adhoc/ |
| H A D | MovingMusclePointMomentArm.cpp | 137 Vector_<SpatialVec>& bodyForces, in calcForce() argument
159 m_A.applyForceToBodyPoint(state, m_ptA, fA, bodyForces); in calcForce()
160 m_B.applyForceToBodyPoint(state, m_ptB, fB, bodyForces); in calcForce()
161 m_V.applyForceToBodyPoint(state, m_ptV, -(fA + fB), bodyForces); in calcForce()
238 Vector_<SpatialVec>& bodyForces, in calcForce() argument
263 m_A.applyForceToBodyPoint(state, m_ptA, fA, bodyForces); in calcForce()
264 m_B.applyForceToBodyPoint(state, m_ptB, fB, bodyForces); in calcForce()
265 m_A.applyForceToBodyPoint(state, ptP_A, fP, bodyForces); in calcForce()
422 Vector_<SpatialVec> bodyForces; in main() local
428 muscle.calcForceContribution(state, bodyForces, particleForces, in main()
[all …]
|
| H A D | TwoPendulums.cpp | 55 Vector_<SpatialVec>& bodyForces, in calcForce() argument
64 body1.applyBodyForce(state, SpatialVec(Vec3(0), f), bodyForces); in calcForce()
65 body2.applyBodyForce(state, SpatialVec(Vec3(0), -f), bodyForces); in calcForce()
221 Vector_<SpatialVec> bodyForces; in main() local
224 gravity.calcForceContribution(s,bodyForces,particleForces,mobilityForces); in main()
225 cout << "Gravity forces: body:" << bodyForces << endl; in main()
|
| /dports/science/opensim-core/opensim-core-4.1/OpenSim/Examples/CustomActuatorExample/ |
| H A D | ControllableSpring.h | 92 SimTK::Vector_<SimTK::SpatialVec>& bodyForces, in computeForce() argument
135 applyForceToPoint(s, frameA, pointA, force, bodyForces); in computeForce()
136 applyForceToPoint(s, frameB, pointB, -force, bodyForces); in computeForce()
|
| H A D | PistonActuator.cpp | 110 SimTK::Vector_<SimTK::SpatialVec>& bodyForces, in computeForce() argument
147 applyForceToPoint(s, frameA, pointA, force, bodyForces); in computeForce()
148 applyForceToPoint(s, frameB, pointB, -force, bodyForces); in computeForce()
|
| /dports/science/opensim-core/opensim-core-4.1/OpenSim/Actuators/ |
| H A D | BodyActuator.cpp | 115 SimTK::Vector_<SimTK::SpatialVec>& bodyForces, in computeForce() argument
149 applyTorque(s, body, torqueVec, bodyForces); in computeForce()
150 applyForceToPoint(s, body, pointOfApplication, forceVec, bodyForces); in computeForce()
|
| H A D | TorqueActuator.cpp | 141 Vector_<SpatialVec>& bodyForces, in computeForce() argument
167 applyTorque(s, *_bodyA, torque, bodyForces); in computeForce()
171 applyTorque(s, *_bodyB, -torque, bodyForces); in computeForce()
|
| H A D | PointToPointActuator.cpp | 149 SimTK::Vector_<SimTK::SpatialVec>& bodyForces, in computeForce() argument
202 applyForceToPoint(s, *_bodyA, pointA_inBodyA, force, bodyForces); in computeForce()
203 applyForceToPoint(s, *_bodyB, pointB_inBodyB, -force, bodyForces); in computeForce()
|
| H A D | McKibbenActuator.cpp | 104 SimTK::Vector_<SimTK::SpatialVec>& bodyForces, in computeForce() argument
110 getGeometryPath().addInEquivalentForces(s, actuation, bodyForces, generalizedForces); in computeForce()
|
| /dports/science/opensim-core/opensim-core-4.1/OpenSim/Actuators/Test/ |
| H A D | testActuators.cpp | 148 Vector_<SpatialVec>& bodyForces = in testTorqueActuator() local
150 bodyForces.dump("Body Forces before applying torque"); in testTorqueActuator()
152 torqueMag*torqueAxis, bodyForces); in testTorqueActuator()
154 -torqueMag*torqueAxis, bodyForces); in testTorqueActuator()
155 bodyForces.dump("Body Forces after applying torque to bodyA and bodyB"); in testTorqueActuator()
162 bodyForces *= 0; in testTorqueActuator()
594 Vector_<SpatialVec>& bodyForces = in testBodyActuator() local
596 bodyForces.dump("Body Forces before applying 6D spatial force:"); in testBodyActuator()
599 torqueInG, bodyForces); in testBodyActuator()
601 Vec3(0), forceInG, bodyForces); in testBodyActuator()
[all …]
|