Home
last modified time | relevance | path

Searched refs:X_GA (Results 1 – 9 of 9) sorted by relevance

/dports/science/simbody/simbody-Simbody-3.7/Simbody/src/
H A DConstraint_LineOnLineContact.cpp237 const Transform& X_GA = mobod_A.getBodyTransform(s); in findContactFrameInG() local
238 return X_GA * pc.X_AC; // 63 flops in findContactFrameInG()
253 const Transform& X_GA = mobod_A.getBodyTransform(s); in findClosestPointsInG() local
254 Qf_G = X_GA * pc.p_AQf; // 18 flops in findClosestPointsInG()
255 Qb_G = X_GA * pc.p_AQb; // 18 flops in findClosestPointsInG()
535 const Transform& X_GA = mobod_A.getBodyTransform(s); in calcDecorativeGeometryAndAppendVirtual() local
536 const Rotation& R_GA = X_GA.R(); in calcDecorativeGeometryAndAppendVirtual()
538 const Transform X_GC = X_GA * X_AC; in calcDecorativeGeometryAndAppendVirtual()
543 const Vec3 p_GQf = X_GA * pc.p_AQf; in calcDecorativeGeometryAndAppendVirtual()
544 const Vec3 p_GQb = X_GA * pc.p_AQb; in calcDecorativeGeometryAndAppendVirtual()
H A DSimbodyMatterSubtree.cpp1099 const Transform& X_GA = matter.getBodyTransform(s,getAncestorMobilizedBodyIndex()); in copyPositionsFromState() local
1103 sr.setSubtreeBodyTransform(sb, ~X_GA * X_GB); // X_AB in copyPositionsFromState()
1178 const Transform& X_GA = matter.getBodyTransform(s,getAncestorMobilizedBodyIndex()); in copyVelocitiesFromState() local
1185 const Vec3 p_AB_G = X_GB.p() - X_GA.p(); in copyVelocitiesFromState()
1190 const SpatialVec V_AB = ~X_GA.R() * SpatialVec(w_AB_G, v_AB_G); // re-express in A in copyVelocitiesFromState()
1253 const Transform& X_GA = matter.getBodyTransform(s,getAncestorMobilizedBodyIndex()); in copyAccelerationsFromState() local
1262 const Vec3 p_AB_G = X_GB.p() - X_GA.p(); in copyAccelerationsFromState()
1269 const SpatialVec A_AB = ~X_GA.R() * SpatialVec(b_AB_G, a_AB_G); // re-express in A in copyAccelerationsFromState()
H A DConstraint_Rod.cpp209 const Transform& X_GA = mobod_A.getBodyTransform(s); in findRodOrientationInG() local
211 return X_GA.R() * pc.Cz_A; // 15 flops in findRodOrientationInG()
H A DConstraint_SphereOnSphereContact.cpp252 const Transform& X_GA = mobod_A.getBodyTransform(s); in findContactFrameInG() local
254 return X_GA * pc.X_AC; // 63 flops in findContactFrameInG()
H A DConstraint.cpp3154 const Transform& X_GA = tpc.getX_GB(ancestorA); in calcConstrainedBodyTransformInAncestor() local
3163 tpc.updX_AB(px) = ~X_GA*X_GB; // 63 flops in calcConstrainedBodyTransformInAncestor()
3184 const Transform& X_GA = tpc.getX_GB(ancestorA); in calcConstrainedBodyVelocityInAncestor() local
3197 const Vec3 p_AB_G = X_GB.p() - X_GA.p(); in calcConstrainedBodyVelocityInAncestor()
3209 tvc.updV_AB(px) = ~X_GA.R() * SpatialVec(w_AB_G, v_AB_G); // re-express in A in calcConstrainedBodyVelocityInAncestor()
3533 const Transform& X_GA = ancestor.getBodyTransform(s); in convertBodyAccelToConstrainedBodyAccel() local
3548 A_AB[cbx] = findRelativeAcceleration(X_GA, V_GA, A_GA, in convertBodyAccelToConstrainedBodyAccel()
3585 const Transform& X_GA = ancestor.getBodyTransform(s); in convertBodyVelocityToConstrainedBodyVelocity() local
3598 V_AB[cbx] = findRelativeVelocity(X_GA, V_GA, // 51 flops in convertBodyVelocityToConstrainedBodyVelocity()
/dports/science/simbody/simbody-Simbody-3.7/Simbody/include/simbody/internal/
H A DMobilizedBody.h720 const Transform& X_GA = inBodyA.getBodyTransform(state); in findBodyTransformInAnotherBody() local
723 return ~X_GA*X_GB; // X_AB=X_AG*X_GB in findBodyTransformInAnotherBody()
768 const Transform& X_GA = inBodyA.getBodyTransform(state); in findBodyVelocityInAnotherBody() local
770 const Vec3 p_AB_G = X_GB.p() - X_GA.p(); // 3 flops in findBodyVelocityInAnotherBody()
778 return ~X_GA.R()*SpatialVec(w_AB_G, v_AB_G); // 30 flops in findBodyVelocityInAnotherBody()
819 const Transform& X_GA = inBodyA.getBodyTransform(state); in findBodyAccelerationInAnotherBody() local
826 return findRelativeAcceleration(X_GA, V_GA, A_GA, in findBodyAccelerationInAnotherBody()
/dports/science/opensim-core/opensim-core-4.1/OpenSim/Simulation/Model/
H A DFrame.cpp219 const SimTK::Transform& X_GA = otherFrame.getTransformInGround(state); in findTransformBetween() local
221 return ~X_GA*X_GF; in findTransformBetween()
/dports/science/simbody/simbody-Simbody-3.7/SimTKmath/Geometry/src/
H A DContactTracker.cpp1271 const Transform& X_GA, in trackContact() argument
1284 const Transform X_AB = ~X_GA*X_GB; // 63 flops in trackContact()
1297 std::cout << " P=" << X_GA*pointP_A << " Q=" << X_GB*pointQ_B << std::endl; in trackContact()
1298 std::cout << " N=" << X_GA.R()*norm_A << std::endl; in trackContact()
1370 const Transform& X_GA, in trackContact() argument
1383 .trackContact(priorStatus, X_GA, shapeA, X_GB, shapeB, in trackContact()
/dports/science/simbody/simbody-Simbody-3.7/Simbody/tests/
H A DTestLinearBushing.cpp153 const Transform X_GA( in testKinematicsAndEnergyConservation() local
156 MobilizedBody::Free body1(matter.Ground(), X_GA, in testKinematicsAndEnergyConservation()
329 const Transform X_GA( in testKinematicsAndEnergyConservationUsingBushingMobilizer() local
332 MobilizedBody::Free body1(matter.Ground(), X_GA, in testKinematicsAndEnergyConservationUsingBushingMobilizer()